Skip to main content

Development of a large area scanner for intraoperative breast endomicroscopy

Zuo, Siyang, Hughes, Michael, Giataganas, Petros, Seneci, Carlo, Chang, Tou Pin, Yang, Guang-Zhong (2014) Development of a large area scanner for intraoperative breast endomicroscopy. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), 31 May-7 June 2014. (doi:10.1109/ICRA.2014.6907367) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. (Contact us about this Publication)
Official URL
https://doi.org/10.1109/ICRA.2014.6907367

Abstract

Recent work on probe-based confocal endomicroscopy has demonstrated its potential role for real-time assessment of tumour margins during breast conserving surgery. However, endomicroscope probes tend to have a very small field-of-view, making surveillance of large areas of tissue difficult, and limiting practical clinical deployment. In this paper, a new robotic device for controlled, large area scanning based on a fibre bundle endomicroscope probe is proposed. The prototype uses a 2-DOF mechanism (-90 to +90 degrees bending on one axis, 360 degrees of rotation on a second axis) as well as a passive linear structure to conform to undulating surfaces. Both axes are driven by brushless DC servo motors with computer control, thus facilitating large field-of-view mosaicing. Experimental results have shown good repeatability and low hysteresis of the device, which is able to scan different surface trajectories (e.g. a spiral pattern over a hemi-spherical surface) with consistent tissue contact. Ex vivo human breast tissue results are demonstrated, illustrating a viable scanning approach for breast endomicroscopy.

Item Type: Conference or workshop item (Paper)
DOI/Identification number: 10.1109/ICRA.2014.6907367
Divisions: Faculties > Sciences > School of Physical Sciences
Faculties > Sciences > School of Physical Sciences > Applied Optics Group
Depositing User: Michael Hughes
Date Deposited: 06 Apr 2017 13:54 UTC
Last Modified: 01 Aug 2019 10:41 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/61195 (The current URI for this page, for reference purposes)
Hughes, Michael: https://orcid.org/0000-0001-5301-2492
  • Depositors only (login required):