Concept of optical fiber tip grinding device for robotic medical applications

When performing medical operations using an optical fiber, its tip is of fundamental importance, especially during the contact machining. Since the processed material (tissue) could stick to the fiber during operation, the edge could burn and the chips could appear. Reuse of the fiber becomes impossible without a preliminary preparation. In this regard, an experimental bench for grinding the optical fiber edge was designed and developed with an ability to measure the pressure force. According to results of the experimental study on the bench with the optical fiber of the 400 diameter, it was found that exceeding the pressure force of 700 mN led to fiber breakage and significant consumption of the grinding film. The paper shows that the hemisphere radius at the optical fiber edge is inversely proportional to the fiber extension length from the holder; and the amount of material removed during grinding is directly proportional to the pressure force.
EDN: SLFTAW, https://elibrary/slftaw

References

[1] Umnov V.P. Interrelation of components and structural model the manipulator of optics the laser-robot. Problemy mashinostroeniya i avtomatizatsii [Engineering & Automation Problems], 2011, no. 3, pp. 79–81. (In Russ.).

[2] Shalyukhin K.A., Levin S.V., Skvortsov S.A. Design and development of an endoscopic gripper for tissue suturing in the laparoscopic operations. Izvestiya vysshikh uchebnykh zavedeniy. Mashinostroenie [BMSTU Journal of Mechanical Engineering], 2024, no. 7, pp. 40–45. EDN: VJQZMP (in Russ.).

[3] Ganiev R.F., Glazunov V.A., Glushkov P.S. et al. Development of new tools for endoscopic surgical operations. Problemy mashinostroeniya i nadezhnosti mashin, 2023, no. 3, pp. 70–77, doi: https://doi.org/10.31857/S0235711923030057 (in Russ.).

[4] Veliev E.I., Ganiev R.F., Glazunov V.A. et al. Assistive robotic surgical systems for minimally invasive surgeries. Problemy mashinostroeniya i nadezhnosti mashin, 2022, no. 3, pp. 83–94. (In Russ.).

[5] Yanushevich O.O., Bazikyan E.A., Chunikhin A.A. et al. Robotizirovannyy multifunktsionalnyy lazernyy khirurgicheskiy kompleks [Robotic multifunctional laser surgical complex]. Patent RU 2693216. Appl. 24.05.2018, publ. 01.07.2019. (In Russ.).

[6] Chunikhin A.A., Bazikyan E.A., Poduraev Y.A. et al. Comparative experimental assessment of the accuracy of nanosecond laser surgery of the oral cavity when the instrument is moved by a robotic complex and a surgeon. Russ. Open Med. J., 2019, vol. 8, no. 3, art. e0307, doi: http://dx.doi.org/10.15275/rusomj.2019.0307

[7] Vorotnikov A.A., Buinov M.A., Bushuev S.V. et al. Standard deviation from the average cutting velocity as a criterion for comparing robot trajectories and manual movements of a doctor for performing surgical operations in maxillofacial surgery. IJMERR, 2018, vol. 7, no. 3, pp. 319–323, doi: https://doi.org/10.18178/ijmerr.7.3.319-323

[8] Vorotnikov A.A., Klimov D.D., Melnichenko E.A. et al. Criteria for comparison of robot movement trajectories and manual movements of a doctor for performing maxillofacial surgeries. IJMERR, 2018, vol. 7, no. 4, pp. 361–366, doi: https://doi.org/10.18178/ijmerr.7.4.361-366

[9] Chunikhin A.A., Poduraev Yu.A., Vorotnikov A.A. et al. Efficiency assessment of nanosecond laser robotic maxillofacial area surgery in experiment. Sovremennye tekhnologii v meditsine [Modern Technologies in Medicine], 2017, vol. 9, no. 4, pp. 123–128, doi: https://doi.org/10.17691/stm2017.9.4.15

[10] Chunikhin A.A., Poduraev Yu.V., Vorotnikov A.A. et al. Cutting velocity accuracy as a criterion for comparing robot trajectories and manual movements for medical industry. Mech. Ind., 2017, vol. 18, no. 7, art. 712, doi: https://doi.org/10.1051/meca/2017047

[11] Meleshnikov A.M., Vorotnikov A.A., Klimov D.D. et al. Prototype probe determining waveguide–Gum contact for a robot surgical system. Russ. Engin. Res., 2020, vol. 40, no. 6, pp. 86–88, doi: https://doi.org/10.3103/S1068798X20010141

[12] Shakhno E.A. Fizicheskie osnovy primeneniya lazerov v meditsine [Physical bases of lasers application in medicine]. Sankt-Peterburg, NIU ITMO Publ., 2012. 129 p. (In Russ.).

[13] Belikov A.V. Optotermicheskie volokonnye konvertery dlya lazernoy meditsiny [Optothermal fiber converters for laser medicine]. Sankt-Peterburg, Universitet ITMO Publ., 2020. 80 p. (In Russ.).

[14] Karpishchenko S.A. Kontaktnaya lazernaya fonokhirurgiya. Avtoref. diss. dok. med. nauk [Contact laser phonosurgery. Abs. doc. med. sci. diss.]. Sankt-Peterburg, PSPbGMU Publ., 2004. 56 p. (In Russ.).

[15] Khotim O.A., Anosov V.S., Sychevskiy L.Z. Use of laser in medicine, potential of using laser eradiation in traumatology and orthopedics. Zhurnal Grodnenskogo gosudarstvennogo meditsinskogo universiteta [Journal of the Grodno State Medical University], 2018, vol. 16, no. 6, pp. 654–660, doi: https://doi.org/10.25298/2221-8785-2018-16-6-654-660 (in Russ.).

[16] Haddad M., Emiliani E., Rouchausse Y. et al. Impact of laser fiber tip cleavage on power output for ureteroscopy and stone treatment. World J. Urol., 2017, vol. 35, no. 11, pp. 1765–1770, doi: https://doi.org/10.1007/s00345-017-2053-1

[17] Smirnov D.B., Vorotnikov A.A., Melnichenko E.A. et al. Optical feedback evaluation of surgical laser for medical robotic applications. Proc. SPIE, 2022, vol. 12170, pp. 200–211, doi: https://doi.org/10.1117/12.2622983

[18] Van Ts., Khu G., Pepin R.P. Ustroystvo i sposob dlya polirovki volokonno-opticheskogo konnektora [Device and method for polishing a fiber optic connector]. Patent RU 2014139566. Appl. 27.04.2012, publ. 20.06.2016. (In Russ.).

[19] Hsieh L.C., Chen T.H. The systematic design of planetary-type grinding devices for optical fiber ferrules and wafers. T. Can. Soc. Mech. Eng., 2016, vol. 40, no. 4, pp. 619–630, doi: https://doi.org/10.1139/tcsme-2016-0049

[20] Vorotnikov A.A., Poduraev Yu.V., Romash E.V. Estimation of error in determining the centers of rotation of links in a kinematic chain for industrial robot calibration techniques. Izmeritelnaya tekhnika, 2015, no. 8, pp. 23–28. (In Russ.). (Eng. version: Meas. Tech., 2015, vol. 58, no. 8, pp. 864–871, doi: https://doi.org/10.1007/s11018-015-0809-9)

[21] Vorotnikov A., Romash E., Isaev A. et al. Uncertainty estimation of axes direction determination of industrial robot using an ellipsoid concentration model. Proc. 27th DAAAM International Symposium, 2016, pp. 0480–0486, doi: http://dx.doi.org/10.2507/27th.daaam.proceedings.072

[22] Vorotnikov A., Bashevskaya O., Ilyukhin Y. et al. Geometrical approach for industrial robot axis calibration using laser tracker. Proc. 26th DAAAM Int. Symposium, 2015, vol. 26, no. 1, pp. 0897–0904, doi: https://doi.org/10.2507/26th.daaam.proceedings.125