The CALM System: New Generation Computer-Assisted Laser Microsurgery

This paper introduces a new generation of the motorized laser micromanipulator: The computer-assisted laser microsurgery system (CALM). The system has a motorized laser micromanipulator and a graphics tablet for intuitive laser position control. The CALM system is proposed to be used in Transoral Laser Microsurgery (TLM) for accurate resections at the surgical site. This paper focuses on the technical design and control of the new motorized micromanipulator, based on a 2 degrees-of-freedom spherical orienting mechanism to actuate the beam-splitter mirror. The design takes into account the constraints of the surgical setup and the mechanical space requirements in TLM. The CALM prototype has been validated through preliminary comparative user trials demonstrating that the laser positioning accuracy improves by 60% over the traditional manual system. CALM provides an intuitive mechanism and interface for improved surgical accuracy and surgical outcomes.