Abstract
Robot-guided laser ablation for surgical applications potentially offers many advantages compared to by-hand mechanical tissue cutting. However, given that tissue can be rough and/or uneven, ablation quality can be compromised if the beam waist deviates significantly from the target tissue surface. Therefore, we present a method that uses optical coherence tomography (OCT) for dynamic refocusing of robot-guided surgical laser ablation. A 7-DOF robotic manipulator with an OCT-equipped optical payload was used to simulate robotic guided laser osteotomy. M-mode OCT feedback is used for continuous surface detection to correct for axial deviations along the ablation path due to surface nonuniformity. We were able to show that such a correction scheme could maintain the beam waist within the depth of focus for surface variation as aggressive as 45 deg with feed rates up to 1 mm / s. Strategies for implementation in surgical and nonsurgical applications are examined.
Highlights
For the purposes of laser osteotomy, maintenance of the beam waist at the surface of the bone in real-time is critical for optimal ablation quality
It would be quite advantageous for a laser osteotomy system to make continuous, real-time, sub-millimeter adaptations along the optical axis in order to maintain beam focus along uneven surfaces
We explore the use of optical coherence tomography (OCT) to guide a robot-guided laser ablation objective payload over a target for surgery
Summary
For the purposes of laser osteotomy, maintenance of the beam waist at the surface of the bone in real-time is critical for optimal ablation quality. Given that OCT innately has the ability to measure displacement along the optical axis, ambiguity in defocusing direction is removed using this method The application of this technique is for ablation of bone during surgery via robotic path guidance. This measurable offset must be taken into account so that the ablation beam waist is always kept at the specimen surface
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