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：传统刚性内窥镜在处理大脑深层肿瘤时存在柔性不足的挑战，低操作性和固定视角限制了其发展。本研究提出了一种新型双段柔性机器人内窥镜MicroNeuro，旨在通过灵巧的手术操作实现大脑深部的活检。考虑到控制模型的不确定性，实现了基于图像的视觉伺服与在线机器人雅可比估计，以提升运动精度。此外，具有约束的模型预测控制的应用显著增强了柔性机器人自适应跟踪移动物体和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的稳定性和精度。仿体测试证实了其在神经外科部署中的巨大潜力。