Towards a Magnetically-Actuated Laser Scanner for Endoscopic Microsurgeries

This paper presents the design and assembly of a novel magnetically-actuated endoscopic laser scanner device. The device is designed to perform 2D position control and high-speed scanning of a fiber-based laser for operation in narrow workspaces. The device includes laser focusing optics to allow non-contact incisions and tablet-based control interface for intuitive teleoperation. The performance of the proof-of-concept device is analyzed through controllability and usability studies. The computer-controlled high-speed scanning demonstrates repeatable results with 21[Formula: see text][Formula: see text]m precision and a stable response up to 48[Formula: see text]Hz. Teleoperation user trials were performed for trajectory-following tasks with 12 subjects, showing an accuracy of 39[Formula: see text][Formula: see text]m. The innovative design of the device can be applied to both surgical and diagnostic (imaging) applications in endoscopic systems.