  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.
