Analysis on intramyocardial microcirculation by a high-speed CCD intravitalmicroscope with a visual servo manipulator

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Main object of this project is to develop a high-speed CCD intravital microscope with a visual servo manipulator.Firstly, we built a prototype of the high speed and high resolution CCD intravital microscope. The resolution of this microscope is the same as previous one, which is enabled by a narrower 2mm-diameter needle-lens. We observed endocardial microcirculation by microrvascular blood velocities and diameter changes. Those velocities in the micro vessels were visualized by the movement of optical shining micro-spheres as a flow marker in the myocardial arterioles. These microspheres were prepared by polymerization of styrene monomers with fine particles of zirconium. The sizes of micro-spheres are 5 and 15 micrometers in diameter. They were applied for observation of capillary and arteriolar myocardial microcirculation without being trapped.As for a visual servo manipulator, we developed an algorithm for identifying a position of the region of interest in myocardial microcirculation (ROI). The precision of the detected position is a few micrometers, which is good enough to use.Secondly, to evaluate tracking ability of this system, we observed micro-spheres, which were implanted on the epicardium of an open-chest anesthetized dog heart. Micro-strain on the epicardium was calculated frame by frame from visualized images. The distribution of micro-strain showed nonuniformity on the epimyocardium, This analysis on micro-strain was accomplished for the first time ever solely by this system.