Automated Trajectory Executions

In surgical operations, deep laser incisions are performed on customized trajectories with repetitive passes. After defining desired trajectories with a tablet device, the laser manipulation system must perform the desired trajectory accurately. In this chapter, accuracy assessment of the magnetic laser scanner is performed considering predefined trajectories with different sizes and speeds. Validation experiments are performed with the feed-forward controller derived in Chap. 4. Results are discussed based on the achieved laser position accuracy and bending angles of the cantilever beam.