Cooperative in situ microscopic scanning and simultaneous tissue surface reconstruction using a compliant robotic manipulator

Γιαταγάνας, Πέτρος; Vitiello, Valentina; Simaiaki, Vasiliki; Lopez, Edoardo; Yang, Guang‐Zhong

doi:10.1109/icra.2013.6631348

Cited by 16 publications

(12 citation statements)

References 12 publications

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“…Fig. 3 Cooperative robotic arm, (A) Using a cooperative robotic arm to generate a 3D map of the tissue: reprinted with IEEE permission from [72]; (B) Larger mosaics achieved by using a TX40 robot: reprinted with IEEE permission from [60]; (C) Using TX40 robot to demonstrate superior performance of the spiral scan: reprinted with IEEE permission from [73].…”

Section: A Cooperative Robotic Armmentioning

confidence: 99%

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Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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Abstract-Endomicroscopy is a new technique that allows human tissue to be characterized in vivo, and in situ, circumventing the need for conventional biopsy and histology. Despite increased application and growing research interests in this area, the clinical application of endomicroscopy, however, is limited by difficulties in ergonomic control, consistent probe-tissue contact, large area surveillance and retargeting. Recently, advances in high-speed imaging, mosaicing and robotics have aimed to address these difficulties. The development of robot-assisted devices in particular has shown great promises in extending the clinical potential of endomicroscopy. Issues related to miniaturization, adaptation to tissue deformation, control stability, force and position compensation, cost and sterility are being pursued by both research and commercial communities. In this paper, recent clinical and technical developments in different aspects of computer and robotic assisted endomicroscopy interventions including instrumentation, multiscale integration, and high-speed imaging techniques are presented. We further address emerging trends and new research opportunities towards more widespread clinical acceptance of robotically assisted endomicroscopy technologies.

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Section: A Cooperative Robotic Armmentioning

confidence: 99%

“…3). A cooperative robotic arm (KUKA Roboter GmbH, Augsburg, Germany) has been used to generate a 3D map of the tissue [72]. The system provides a hands-on, learning based framework for optimal trajectory coverage from surgeon demonstrated motions.…”

Section: A Cooperative Robotic Armmentioning

confidence: 99%

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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“…A spiral trajectory is an effective means of covering a scan area [19] and so was adopted here. For spiral scanning, the parameters include the tangential velocity of the probe V tangential , and the loop spacing in the radial direction, ∆ℎ.…”

Section: E Control Algorithms and Trajectorymentioning

confidence: 99%

“…As a result, only relatively small areas of tissue could be mosaiced. Although large area mosaics were achieved by [19,20], this work is difficult to adapt to clinical use due to the complex robotic arm used.…”

Section: Introductionmentioning

confidence: 99%

“…Rosa et al developed a scanning device using hydraulic micro-balloons [17], and a conic structure was developed by Erden et al [18]. A cooperative robotic arm (KUKA Roboter GmbH, Augsburg, Germany) has also been used to generate a 3D map of the tissue [19]. However, the target of [17] and [18] were applications for which the scanning device must remain very compact.…”

Section: Introductionmentioning

confidence: 99%

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Toward Intraoperative Breast Endomicroscopy With a Novel Surface-Scanning Device

Zuo

Hughes

Seneci

et al. 2015

IEEE Trans. Biomed. Eng.

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A Novel Flexible Endomicroscopic Scanning Instrument with Visual Servoing Control

Xu,

Zhang,

Zhang

et al. 2024

Advanced Intelligent Systems

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Optical biopsy using probe‐based confocal laser endomicroscopy (pCLE) and optical coherence tomography (OCT) technologies performs in vivo tissue scanning of organ surfaces and plays a crucial role in early cancer diagnosis. Herein, a flexible endomicroscopic scanning instrument based on a 3‐degree‐of‐freedom flexible hinge structure and visual servoing control is presented. The instrument integrates OCT and pCLE. OCT information compensates for the imaging distance of pCLE, which can combine the advantages of the two technologies. The mechanism allows for tissue surface scanning with a wire‐driven active bending part and dynamic adjustment of the probe‐tissue distance using a combination of wire and spring‐driven, which satisfy large‐area scanning while maintaining consistence tissue contacts. Local optimization‐based visual servoing control is proposed to optimize the tissue scanning. Through the scanning experiments, high‐quality mosaics of uneven surfaces are obtained with an effective area that is larger than 4 mm2. In vivo animal trial further verifies the feasibility and clinical potential of the instrument.

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Cooperative in situ microscopic scanning and simultaneous tissue surface reconstruction using a compliant robotic manipulator

Cited by 16 publications

References 12 publications

Endomicroscopy for Computer and Robot Assisted Intervention

Endomicroscopy for Computer and Robot Assisted Intervention

Toward Intraoperative Breast Endomicroscopy With a Novel Surface-Scanning Device

A Novel Flexible Endomicroscopic Scanning Instrument with Visual Servoing Control

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