Name
Abstract | ||
|---|---|---|
Tissue identification, tumor margin identification, and therapy are major concerns for surgeons. Endomicroscopy can provide in vivo, in situ cellular-level images for the real-time assessment of tissue pathology. Hence, laser ablation can be performed in a minimally invasive manner to kill cancerous tissue while preserving normal tissue, allowing less pain and shorter recovery time. Combining endomicroscopy with laser ablation is a new area and has high potential to be a promising system. However, it is challenging to assess a surgical site using individual microscopic images due to the limited field-of-view (FoV) and difficulties associated with manually manipulating the probe. In this paper, a novel robotic device for intraoperative large-area endomicroscopy imaging and image-guided ablation is proposed, demonstrating a highly accurate and stable surface-scanning mechanism to obtain histology-level endomicroscopy mosaics. The device also includes a laser ablation fiber to precisely ablate target tissue under image guidance without the need for an additional tool. The device achieves pre-programmed scanning trajectory with a high positioning accuracy of 0.21 mm and obtains a large FoV of more than 13.9 mm(2) from a range of ex vivo human and animal tissue experiments. We perform in vivo image-guided ablation of porcine thyroid gland tissue in robotic-assisted endomicroscopy. The experimental results demonstrate that the proposed device can generate large-area, histology-level microscopic images, and ablate suspicious areas of diseased soft biological tissue, showing the potential of the device for future intelligent system and improve robotic-assisted surgery. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ACCESS.2019.2929508 | IEEE ACCESS |
Keywords | DocType | Volume |
Minimally invasive surgery,surgical robot,image mosaicing,optical biopsy,laser ablation | Journal | 7 |
ISSN | Citations | PageRank |
2169-3536 | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Haibo Wang | 1 | 0 | 1.01 |
| Zhongyuan Ping | 2 | 0 | 0.34 |
| Yingwei Fan | 3 | 0 | 1.69 |
| Hongxiang Kang | 4 | 0 | 0.68 |
| Siyang Zuo | 5 | 17 | 7.12 |