This study proposes a novel concept for a three-axis positioning and scanning platform that overcomes the existing gap in technology towards meeting the requirements for displacements, resolution, weight carrying capacity and velocity at smaller dimensions. The novelty of this work stems from the fact that our three-axis stage design utilizes only two actuators. This system was developed to meet the specific requirements needed for implementation of Multifunctional Image Guided Surgical (MIGS) platform. Mathematical model accounting for the open and closed loop operation of the stage was developed. The stage can provide displacements between 10-20mm in each axis, resolution of less than 10μm and scanning velocity in the range of 10-40mm/s. It can carry weights up to 10grams while meeting the desired requirements. Additionally, the stage has small footprint (50mm × 50mm × 34mm), modular design and extremely cost-effective fabrication. Integration of computer controlled three-axis stage with MIGS platform will provide the
opportunity for conducting intricate surgical procedures using remote control or joystick. We demonstrate novel
applications that became possible due to the development of this stage.
We have developed a high precision three axes scanning and positioning system for integration with
Multifunctional Image Guided Surgical (MIGS) Platform. The stage integrates three main components: an optical
coherence tomography (OCT) probe, laser scalpel and suction cup. The requirements for this stage were to provide
scanning area of 400mm2, resolution of less than 10 microns and scanning velocity in the range of 10 - 40 mm/s.
The stage was modeled using computer aided design software NX Unigraphics. In addition to the parameters
mentioned above, additional boundary conditions for the stage were set as low volume and modularity. Optimized
stage model was fabricated by using rapid prototyping technique that integrates low cost stepper motors, threaded
rod drive train and a stepper motor controller. The EZ4axis stepper motor controller was able to provide 1/8th microstep
resolution control over the motors, which met the criterion desired for the MIGS platform. Integration of
computer controlled three-axis stage with MIGS platform provides the opportunity for conducting intricate surgical
procedures using remote control or joystick. The device is image guided using the OCT probe and it is able to pin
point any location requiring a laser scalpel incision. Due to the scanning capabilities, a high quality threedimensional
image of the tissue topography is obtained which allows the surgeon to make a confident decision of
where to apply the laser scalpel and make an incision.
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