Real-time control of a soft-rigid hybrid robot for precision laser surgery
Embargo Date
2027-06-08
OA Version
Citation
Abstract
Laser surgery is an effective and minimally invasive treatment for cervical cancer, enabling precise control to target affected tissue while minimizing damage to surrounding areas. However, conventional approaches rely on rigid instruments such as the speculum, which struggle to access certain areas due to the complex geometry of the cervix. These tools can also exert excessive pressure on the cervical entrance or surrounding tissues, increasing patient discomfort and procedural risks. In addition, the manual operation of laser surgery tools makes it challenging to maintain consistent precision, particularly in constrained surgical environments.To address these limitations, this thesis presents the development of a manually controlled robotic system designed for real-time surgical applications. The robot, featuring an origami-structured design, allows flexible and adaptive movement suitable for complex surgical procedures. Actuated by air pressure through a motorized pump, the robot’s motion is controlled by a joystick, allowing the surgeon to maneuver the laser with high precision and ease. A major challenge of conventional control systems is the lack of immediate feedback on the robot’s movement and laser positioning. To overcome this, a 3D real-time visualization system has been integrated, providing instant feedback on the robot’s position and trajectory. This improves accuracy, improves user control, and facilitates real-time decision-making during surgery. By combining soft robotic adaptability with precision control, this research aims to advance laser-based cervical cancer treatments, ultimately improving surgical safety and patient outcomes.
Description
2025
License
Attribution 4.0 International