This paper proposes a method to regulate the tissue temperature during laser surgery by robotically controlling the laser focus. Laser-tissue interactions are generally considered hard to control due to the inherent inhomogeneity of biological tissue, which can create significant variability in its thermal response to laser irradiation. In this study, we use methods from nonlinear control theory to synthesize a temperature controller capable of working on virtually any tissue type without any prior knowledge of its physical properties. The performance of the controller is evaluated in ex-vivo experiments.

翻译：本文提出了一种通过机器人控制激光焦点来调节激光手术中组织温度的方法。激光与组织的相互作用通常被认为难以控制，因为生物组织固有的不均匀性导致其对激光照射的热响应存在显著差异。在本研究中，我们利用非线性控制理论中的方法设计了一种温度控制器，该控制器能够在无需事先了解任何组织物理特性的情况下，适用于几乎任何组织类型。通过离体实验评估了该控制器的性能。