Selectively Actuated Fiberbots for High-precision Minimally Invasive Surgery

Authors:Jinshi Zhao, Libaihe Tian, Alex Ranne, Qindong Zheng, Yue Li, Xiaotong Guo, Ziqi Yang, Ali Anil Demircali, Mohamed E. M. K. Abdelaziz, Bruno Gil Rosa, Ferdinando Rodriguez y Baena, Burak Temelkuran

Abstract:Long, slender instruments are essential for minimally invasive surgery (MIS), but achieving precise distal manipulation becomes increasingly difficult when actuation extends along the entire instrument. Here, we present an electrothermally actuated fiber-based robot designed for MIS procedures, in which Joule heating is concentrated in the distal active segment. The fiber is fabricated using a thermal drawing process and uses embedded metallic wires for thermal actuation. This robotic fiber, 1.9 mm in diameter and 1.2 m in length, can precisely manipulate surgical laser fibers with positional precision below 100 $\mu$m. The compact size of the fiber robot allows it to pass through the working channel of a flexible endoscope, while keeping both devices mechanically uncoupled to allow independent motion. A phantom demonstration combining the robotic fiber with a da Vinci instrument conceptually demonstrated its compatibility with existing endoscopic systems for clinical applications. Our robotic fiber enables precise distal motion and holds the potential to improve clinical outcomes by enhancing precision in MIS procedures.

Robotics (cs.RO)

arXiv:2610.12636 [cs.RO]

(or arXiv:2610.12636v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.12636 arXiv-issued DOI via DataCite (pending registration)