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Conference Paper: A hand-held instrument for in vivo probe-based confocal laser endomicroscopy during Minimally Invasive Surgery

TitleA hand-held instrument for in vivo probe-based confocal laser endomicroscopy during Minimally Invasive Surgery
Authors
Keywordsforce adaptive control
TEO
confocal endomicroscopy
hand-held imaging probe
tissue characterization
pCLE
TEM
Issue Date2012
Citation
IEEE International Conference on Intelligent Robots and Systems, 2012, p. 1982-1987 How to Cite?
AbstractProbe-based confocal laser endomicroscopy (pCLE) provides high resolution imaging of tissue in vivo. Maintaining a steady contact between target tissue and pCLE probe tip is important for image consistency. In this paper, a new prototype hand-held instrument for in vivo pCLE during Minimally Invasive Surgery (MIS) is presented. The proposed instrument incorporates adaptive force sensing and actuation, allowing improved image consistency and force control, thus minimizing tissue deformation and induced micro-structural variations. The performance and accuracy of the contact force control are evaluated in detailed laboratory settings and in vivo validation of the device during transanal microsurgery in a live porcine model further demonstrates the potential clinical value of the device. © 2012 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/199926
ISSN

 

DC FieldValueLanguage
dc.contributor.authorTun Latt, Win-
dc.contributor.authorChang, Toupin-
dc.contributor.authorDi Marco, Aimee-
dc.contributor.authorPratt, Philip J.-
dc.contributor.authorKwok, Kawai-
dc.contributor.authorClark, James A.-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:10:55Z-
dc.date.available2014-07-26T23:10:55Z-
dc.date.issued2012-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2012, p. 1982-1987-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/199926-
dc.description.abstractProbe-based confocal laser endomicroscopy (pCLE) provides high resolution imaging of tissue in vivo. Maintaining a steady contact between target tissue and pCLE probe tip is important for image consistency. In this paper, a new prototype hand-held instrument for in vivo pCLE during Minimally Invasive Surgery (MIS) is presented. The proposed instrument incorporates adaptive force sensing and actuation, allowing improved image consistency and force control, thus minimizing tissue deformation and induced micro-structural variations. The performance and accuracy of the contact force control are evaluated in detailed laboratory settings and in vivo validation of the device during transanal microsurgery in a live porcine model further demonstrates the potential clinical value of the device. © 2012 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.subjectforce adaptive control-
dc.subjectTEO-
dc.subjectconfocal endomicroscopy-
dc.subjecthand-held imaging probe-
dc.subjecttissue characterization-
dc.subjectpCLE-
dc.subjectTEM-
dc.titleA hand-held instrument for in vivo probe-based confocal laser endomicroscopy during Minimally Invasive Surgery-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2012.6385535-
dc.identifier.scopuseid_2-s2.0-84872347735-
dc.identifier.spage1982-
dc.identifier.epage1987-
dc.identifier.eissn2153-0866-

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