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Intraoperative robotic-assisted large-area high-speed microscopic imaging and intervention

Giataganas, Petros, Hughes, Michael, Payne, Christopher, Wisanuvej, Piyamate, Temelkuran, Burak, Yang, Guang-Zhong (2018) Intraoperative robotic-assisted large-area high-speed microscopic imaging and intervention. IEEE Transactions on Biomedical Engineering, 66 (1). pp. 208-216. ISSN 0018-9294. (doi:10.1109/TBME.2018.2837058) (KAR id:67627)


Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in-vivo and in-situ cellular-level imaging for real-time assessment of tissue pathology. Endomicroscopy could potentially be used for intraoperative surgical guidance, but it is challenging to assess a surgical site using individual microscopic images due to the limited field-of-view and difficulties associated with manually manipulating the probe. Methods: In this paper, a novel robotic device for large-area endomicroscopy imaging is proposed, demonstrating a rapid, but highly accurate, scanning mechanism with image-based motion control which is able to generate histology-like endomicroscopy mosaics. The device also includes, for the first time in robotic-assisted endomicroscopy, the capability to ablate tissue without the need for an additional tool. Results: The device achieves pre-programmed trajectories with positioning accuracy of less than 30um, the image-based approach demonstrated that it can suppress random motion disturbances up to 1.25mm/s. Mosaics are presented from a range of ex-vivo human and animal tissues, over areas of more than 3mm², scanned in approximate 10s. Conclusion: This work demonstrates the potential of the proposed instrument to generate large-area, high-resolution microscopic images for intraoperative tissue identification and margin assessment. Significance: This approach presents an important alternative to current histology techniques, significantly reducing the tissue assessment time, while simultaneously providing the capability to mark and ablate suspicious areas intraoperatively.

Item Type: Article
DOI/Identification number: 10.1109/TBME.2018.2837058
Uncontrolled keywords: optical imaging, medical robotics, visual servoing, endomicroscopy
Subjects: T Technology > TK Electrical engineering. Electronics. Nuclear engineering > TK8300 Optoelectronic devices. Photoelectronic devices
Divisions: Divisions > Division of Natural Sciences > Physics and Astronomy
Depositing User: Michael Hughes
Date Deposited: 16 Jul 2018 14:45 UTC
Last Modified: 09 Dec 2022 05:00 UTC
Resource URI: (The current URI for this page, for reference purposes)

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