Building Large Mosaics of Confocal Edomicroscopic Images Using Visual Servoing
Building Large Mosaics of Confocal Edomicroscopic Images Using Visual Servoing
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DOI：
10.1109/tbme.2012.2228859
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发表时间：
2013-04-01
影响因子：
4.6
通讯作者：
Morel, Guillaume
中科院分区：
文献类型：
--
作者：
Rosa, Benoit;Erden, Mustafa Suphi;Morel, Guillaume
基于探针的共聚焦激光显微内镜提供了由小探针接触的组织的实时显微图像，该小探针可以通过微创进入插入体内。镶嵌包括在收集视频流的同时扫描与待成像的组织接触的探头，并处理图像以将它们组装成大的镶嵌。虽然这一领域的大部分文献都集中在图像处理，很少有人注意到到迄今为止的方式探头运动可以控制。这是一个至关重要的问题，因为探头轨迹控制的精度会极大地影响最终马赛克的质量。机器人控制的运动有可能提供足够的精度来执行镶嵌。在本文中，我们强调了实施这种方法的困难。首先，探针-组织接触产生变形，其阻止适当地控制图像轨迹。其次，在我们的研究所针对的微创手术的背景下，机器人设备可能在微观尺度上表现出有限的远端探头运动控制质量。为了科普这些问题，本文提出了从实时内窥镜图像视觉伺服。它在两种不同的设备上实现（高精度工业机器人和原型微创设备）。不同种类的环境（打印纸和体外组织）的实验表明，视觉伺服探头运动的质量是足够的，以建立马赛克与最小的失真，尽管干扰。
Probe-based confocal laser endomicroscopy provides real-time microscopic images of tissues contacted by a small probe that can be inserted in vivo through a minimally invasive access. Mosaicking consists in sweeping the probe in contact with a tissue to be imaged while collecting the video stream, and process the images to assemble them in a large mosaic. While most of the literature in this field has focused on image processing, little attention has been paid so far to the way the probe motion can be controlled. This is a crucial issue since the precision of the probe trajectory control drastically influences the quality of the finalmosaic. Robotically controlled motion has the potential of providing enough precision to perform mosaicking. In this paper, we emphasize the difficulties of implementing such an approach. First, probe-tissue contacts generate deformations that prevent from properly controlling the image trajectory. Second, in the context of minimally invasive procedures targeted by our research, robotic devices are likely to exhibit limited quality of the distal probe motion control at the microscopic scale. To cope with these problems visual servoing from real-time endomicroscopic images is proposed in this paper. It is implemented on two different devices (a high-accuracy industrial robot and a prototype minimally invasive device). Experiments on different kinds of environments (printed paper and ex vivo tissues) show that the quality of the visually servoed probe motion is sufficient to build mosaics with minimal distortion in spite of disturbances.