The creation of multiarticulated mechanisms for use with minimally invasive surgical tools is difficult because of fabrication, assembly, and actuation challenges on the millimeter scale of these devices. Nevertheless, such mechanisms are desirable for granting surgeons greater precision and dexterity to manipulate and visualize tissue at the surgical site. Here, we describe the construction of a complex optoelectromechanical device that can be integrated with existing surgical tools to control the position of a fiber-delivered laser. By using modular assembly and a laminate fabrication method, we are able to create a smaller and higher-bandwidth device than the current state of the art while achieving a range of motion similar to existing tools. The device we present is 6 millimeters in diameter and 16 millimeters in length and is capable of focusing and steering a fiber-delivered laser beam at high speed (1.2-kilohertz bandwidth) over a large range (over ±10 degrees in both of two axes) with excellent static repeatability (200 micrometers).

由于这些设备的毫米级制造、组装和驱动挑战，创建用于微创手术工具的多关节机构是困难的。然而，这样的机制对于授予外科医生更高的精确度和灵巧性以在手术部位处操纵和可视化组织是合乎需要的。在这里，我们描述了一个复杂的光机电设备的构造，该设备可以与现有的手术工具集成，以控制光纤传送激光器的位置。通过使用模块化组装和层压制造方法，我们能够创建比当前技术水平更小、带宽更高的设备，同时实现与现有工具类似的运动范围。