Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope
(0) Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.
fluorescence spectroscopy articulated robot force control in vivo tissue characterization.
David P.Noonan Christopher J.Payne Jianzhong Shang Vincent Sauvage Richard Newton Daniel Elson Ara Darzi Guang-Zhong Yang
Department of Surgery and Cancer, Imperial College London Institute of Biomedical Engineering, Imper Institute of Biomedical Engineering, Imperial College London Department of Computing, Imperial Colle Institute of Biomedical Engineering, Imperial College London Department of Surgery and Cancer, Imperial College LondonInstitute of Biomedical Engineering, Imperi Department of Surgery and Cancer, Imperial College London
国际会议
北京
英文
245–252
2010-09-01（万方平台首次上网日期，不代表论文的发表时间）