面向内窥镜手术激光扫描的腱驱动检流计研发
Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning
AI总结：
本文提出一种小型腱驱动检流计作为可转向手术激光末端执行器，用于神经外科微创手术中的精确感知、成像与组织操作，并推导验证了其运动学模型。
摘要：
在神经外科手术（如脑肿瘤切除）中，对精确的病理感知、成像和组织操作存在需求。精确的肿瘤边缘识别与切除可以防止肿瘤进一步生长并保护关键结构。具有小激光直径和转向能力的手术激光能够穿越复杂解剖结构，然后提供能量以感知、可视化和作用于组织，从而实现新的微创手术。在本文中，我们提出了一种小型腱驱动检流计（TAG）的设计，该检流计可作为可转向手术激光的末端执行工具。本文给出并推导了该检流计传感器的设计、制造和运动学建模。它能够精确旋转至30.14度（或激光反射角60.28度）。本文推导并验证了输入腱行程到输出检流计角度变化的运动学映射，以及将连续体关节末端与激光终点相关联的正运动学模型。
英文摘要：
There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise tumor margin identification and resection can prevent further growth and protect critical structures. Surgical lasers with small laser diameters and steering capabilities can allow for new minimally invasive procedures by traversing through complex anatomy, then providing energy to sense, visualize, and affect tissue. In this paper, we present the design of a small-scale tendon-actuated galvanometer (TAG) that can serve as an end-effector tool for a steerable surgical laser. The galvanometer sensor design, fabrication, and kinematic modeling are presented and derived. It can accurately rotate up to 30.14 degrees (or a laser reflection angle of 60.28 degrees). A kinematic mapping of input tendon stroke to output galvanometer angle change and a forward-kinematics model relating the end of the continuum joint to the laser end-point are derived and validated.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
