1. Optical coherence tomography for dynamic axial correction of an optical end-effector for robot-guided surgical laser ablation

    Optical coherence tomography for dynamic axial correction of an optical end-effector for robot-guided surgical laser ablation

    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 ...

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