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. Experimental results underscore that the proposed control system enhances motion stability and precision. Phantom testing substantiates its considerable potential for deployment in neurosurgery.

翻译：传统刚性内窥镜在治疗位于大脑深部的肿瘤时存在灵活性不足的问题，且操作不便与视角固定制约了其发展。本研究提出一种新型双段柔性机器人内窥镜MicroNeuro，旨在通过灵巧的深脑手术操作实施活检。针对控制模型的不确定性，采用基于图像的视觉伺服结合在线机器人雅可比估计，以提升运动精度。此外，应用带约束的模型预测控制显著增强了柔性机器人自适应追踪移动目标及抵抗外部干扰的能力。实验结果表明，所提出的控制系统提升了运动稳定性与精度。模型实验验证了其在神经外科部署中的巨大潜力。