Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy

Abstract-- Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an image-based visual servoing with online robot Jacobian estimation has been implemented to enhance motion accuracy. Furthermore, the application of model predictive control with constraints significantly bolsters the flexible robot's ability to adaptively track mobile objects and resist external interference. The rigid structure limited maneuverability [2] within the Tumors located within the brain's ventricular system pose complex anatomy of the brain, slight movement abruptly or significant health risks and present considerable treatment incorrectly may lead to potential brain trauma and complications; challenges due to their difficult-to-reach locations and proximity and (ii) the limitation of fixed viewing angles of rigid to critical neurological structures [1].