A laser ablation end-effector with multiple degrees of freedom for minimally invasive surgery

Abstract

A surgical tool with multiple degrees of freedom is designed, working as a laser ablation end-effector for minimally invasive surgery. The end-effector mainly consists of four springs which provide multiple degrees of freedom and four flexible shafts which contracts or extends four springs. The mechanical configuration of the designed end-effector is detailed presented and the mathematical model is formulated. The prototype of the end-effector is built and its motion performance is tested.