Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning

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 inva-sive 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
$30.14\pm 0.90^{\circ}$
(or
$a$
laser reflection angle of
$60.28^{\circ})$
. 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.