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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Flexible Robotic Scanning Device for Intraoperative Endomicroscopy in MIS
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Flexible Robotic Scanning Device for Intraoperative Endomicroscopy in MIS

机译：MIS术中内窥镜检查的柔性机器人扫描装置

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摘要

Optical biopsy methods such as probe-based confocal endomicroscopy can provide intraoperative real-time assessment of tumour margins, including during minimally invasive surgery with flexible endoscopes or robotic platforms. Mosaics can be produced by translating the probe across the target, but it remains difficult to scan over a large field of view with a flexible endomicroscope. In this paper, we have developed a novel flexible scanning device for intraoperative endomicroscopy in minimally invasive surgery (MIS). A Schott leached imaging bundle was integrated into the device and enables the approach, via a flexible path, to deep and narrow spaces in the human body that otherwise would not accessible. The proposed device uses a gear-based flexible concentric tube scanning mechanism to facilitate large field-of-view mosaicing. Experimental results show that the device is able to scan different surface trajectories (e.g., a spiral pattern over a hemi-spherical surface). Results from lens tissue paper and porcine liver tissue are demonstrated, illustrating a viable scanning approach for endomicroscopy in MIS.
机译：光学活检方法（例如基于探针的共聚焦内窥镜检查）可以在术中实时评估肿瘤边缘，包括在使用柔性内窥镜或机器人平台进行的微创手术中。可以通过在目标上平移探针来生成马赛克，但是使用柔性内窥镜在大视野内扫描仍然很困难。在本文中，我们开发了一种新颖的柔性扫描设备，用于微创手术（MIS）的术中内窥镜检查。肖特浸出成像束已集成到该设备中，并使该方法能够通过一条灵活的路径进入人体深处和狭窄的空间，否则这些空间将无法进入。拟议的设备使用基于齿轮的柔性同心管扫描机制来促进大视野拼接。实验结果表明，该设备能够扫描不同的表面轨迹（例如，半球形表面上的螺旋形图案）。证明了从晶状体薄纸和猪肝组织得到的结果，说明了在MIS中进行内窥镜检查的可行扫描方法。

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