Robot assisted endomicroscopic image mosaicing with optimal surface coverage and reconstruction

Simaiaki, Vasiliki; Γιαταγάνας, Πέτρος; Yang, Guang‐Zhong

doi:10.1109/isbi.2013.6556803

Cited by 4 publications

(3 citation statements)

References 7 publications

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“…Future work to ascertain the appropriate balance between magnification and field of view is required in order to optimize the economy of movement for intraoperative cavity assessment whilst minimizing the impact on pCLE image interpretation. Additionally, devising a pCLE probe movement pathway to facilitate time-optimized assessment of cavity walls may be required to prevent surgeons' fatigue arising from excessive probe micromanipulations and this may require collaborative efforts from the integration of robotic technology with pCLE [47][48][49][50]. Whilst cavity wall scanning would be the 'ideal' intraoperative assessment, we envisaged that the next crucial step in clinical translation would be focused on initial application and assessment of feasibility of in vivo in situ robotic-assisted, real-time pCLE imaging on localized and quadrant-based image acquisition of cavity wall margins guided by intraoperative clinical suspicion or specimen radiography.…”

Section: Image Interpretation Assessmentmentioning

confidence: 99%

Imaging breast cancer morphology using probe-based confocal laser endomicroscopy: towards a real-time intraoperative imaging tool for cavity scanning

Chang

Leff

Shousha

et al. 2015

Breast Cancer Res Treat

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Current techniques for assessing the adequacy of tumour excision during breast conserving surgery do not provide real-time direct cytopathological assessment of the internal cavity walls within the breast. This study investigates the ability of probe-based confocal laser endomicroscopy (pCLE), an emerging imaging tool, to image the morphology of neoplastic and non-neoplastic breast tissues, and determines the ability of histopathologists and surgeons to differentiate these images. Freshly excised tumour samples and adjacent non-diseased sections from 50 consenting patients were stained with 0.01 % acriflavine hydrochloride and imaged using pCLE. All discernible pCLE features were cross-examined with conventional histopathology. Following pattern recognition training, 17 histopathologists and surgeons with no pCLE experience interpreted 50 pCLE images independently whilst blinded to histopathology results. Three-hundred and fifty pCLE image mosaics were analysed. Consistent with histopathology findings, the glandular structures, adipocytes and collagen fibres of normal breast were readily visible on pCLE images. These were distinguishable from the morphological architecture exhibited by invasive and non-invasive carcinoma. The mean accuracy of pCLE image interpretation for histopathologists and surgeons was 94 and 92 %, respectively. Overall, inter-observer agreement for histopathologists was 'almost perfect', κ = 0.82; and 'substantial' for surgeons, κ = 0.74. pCLE morphological features of neoplastic and non-neoplastic breast tissues are readily visualized and distinguishable with high accuracy by both histopathologists and surgeons. Further research is required to investigate a potential role for the use of pCLE intraoperatively for in situ detection of residual cancerous foci, thereby guiding operating decision-making based on real-time breast cavity scanning.

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Section: Image Interpretation Assessmentmentioning

confidence: 99%

Imaging breast cancer morphology using probe-based confocal laser endomicroscopy: towards a real-time intraoperative imaging tool for cavity scanning

Chang

Leff

Shousha

et al. 2015

Breast Cancer Res Treat

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“…[15] It is generally believed that the acquisition of large-scale microscopic images requires large-area microscopic tissue scanning with a robotic instrument. [4,16,17] To obtain large-scale image, Erden et al scanned spiral and raster trajectories of ex vivo bovine liver tissue and chicken breast tissue using a six-axis industrial robot (TX40, Stüaubli, Faverges, France). [18] Erden et al also achieved soft tissue scanning with TX40 robot to obtain a large-scale pCLE image.…”

Section: Introductionmentioning

confidence: 99%

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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“…Image mosaicing is one of the most interesting area of research in the fields of image processing, computer vision, texture mapping, panoramic imaging, satellite imaging, object tracking [1], medical application [2], [3], robotics [3] etc. Aligning a series of images to create a composite image or panorama, with more information and larger field of view (FOV) than the input images, is the main purpose of image mosaicing.…”

Section: Introductionmentioning

confidence: 99%

A novel technique for mosaicing of medical images

Pandey

Pati

2014

2014 Annual IEEE India Conference (INDICON)

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Image mosaicing has numerous applications in the area of computer vision, virtual reality, robotics, medical imaging, computer graphics and advertising. The creation of the seamless image mosaic often becomes a difficult task due to the presence of alignment errors and intensity discrepancies. The present paper discusses the development and implementation of a novel algorithm based on the discrete cosine transform (DCT) for mosaicing of medical images. The proposed method is implemented in three steps: image alignment, image reprojection, and image blending. In the first step, the geometric correspondence between the images to be mosaiced is calculated. The aim of the second step is to project the aligned images in a common compositing surface. Finally, the third step minimizes the intensity variations in the overlapping region of the final mosaic. As a result, a high quality seamless image mosaic is generated. The obtained results and its comparative analyses clearly illustrate the efficacy of the approach in obtaining visually pleasant mosaiced images.

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Robot assisted endomicroscopic image mosaicing with optimal surface coverage and reconstruction

Cited by 4 publications

References 7 publications

Imaging breast cancer morphology using probe-based confocal laser endomicroscopy: towards a real-time intraoperative imaging tool for cavity scanning

Imaging breast cancer morphology using probe-based confocal laser endomicroscopy: towards a real-time intraoperative imaging tool for cavity scanning

A Novel Flexible Endomicroscopic Scanning Instrument with Visual Servoing Control

A novel technique for mosaicing of medical images

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