Intraoperative Robotic-Assisted Large-Area High-Speed Microscopic Imaging and Intervention
Intraoperative Robotic-Assisted Large-Area High-Speed Microscopic Imaging and Intervention
复制标题
术中机器人辅助大面积高速显微成像和干预
DOI：
10.1109/tbme.2018.2837058
复制
发表时间：
2019
影响因子：
4.6
通讯作者：
Giataganas P
中科院分区：
文献类型：
--
作者：
Giataganas P
基于 ObjectiveProbe 的共焦内窥镜是一种新兴的高放大倍率光学成像技术，可提供体内和原位细胞水平成像，用于组织病理学的实时评估。内窥镜检查有可能用于术中手术指导，但由于视野有限以及手动操作探头的困难，使用单个显微图像评估手术部位具有挑战性。方法本文提出了一种用于大面积内窥镜成像的新型机器人设备，展示了一种快速但高度准确的基于图像运动控制的扫描机制，能够生成类似组织学的内窥镜马赛克。该设备还首次在机器人辅助内窥镜检查中具有无需额外工具即可消融组织的能力。结果该设备实现了定位精度小于 30 μm 的预编程轨迹，而基于图像的方法表明它可以抑制高达 1.25 mm s-1 的随机运动干扰。马赛克是从一系列离体人类和动物组织中呈现出来的，面积超过 3 mm2，扫描时间约为 10 秒。结论本文展示了所提出的仪器为术中组织识别和边缘评估生成大面积、高分辨率显微图像的潜力。意义该方法为当前组织学技术提供了一种重要的替代方案，显着缩短了组织评估时间，同时提供了术中标记和消融可疑区域的能力。
ObjectiveProbe-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.MethodsIn 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.ResultsThe device achieves preprogrammed trajectories with positioning accuracy of less than 30 μm, while the image-based approach demonstrated that it can suppress random motion disturbances up to 1.25 mm s-1. Mosaics are presented from a range of ex vivo human and animal tissues, over areas of more than 3 mm2, scanned in approximate 10 s.ConclusionThis paper demonstrates the potential of the proposed instrument to generate large-area, high-resolution microscopic images for intraoperative tissue identification and margin assessment.SignificanceThis 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.