Electromagnetic Actuated Flexible Laser Fiber Steering Monitoring Based on Self-Sensation and Precalibration

Abstract

In fiber-delivery laser surgery, both accurate actuation and sensation of flexible laser fiber is essential to achieve high precise steering control of laser system in narrow intravital operation space. This paper proposes a self-sensing method for flexible laser fiber steering monitoring based on the electromagnetic coupling actuation principle. Self-sensing of the laser fiber steering is realized by solving an inverse magnetic problem of passive magnetic source localization based on homologous actuation electromagnetic field without involving other detection technologies. To further guarantee high actuation and sensation, Kalman filter algorithm and electromagnetic actuation pre-calibration is applied. A compact proof-of-concept prototype is developed for feasibility demonstration. Systematic sensing experiments were carried out, including single-point static tracking, 1D and 2D dynamic tracking. For 2D dynamic tracking, the relative tracking error in x- and y-axis distributes in [-4.27, 4.13] % and [-3.72, 2.99] %, respectively, with mean tracking error of 0.018 mm.