Flexible Robotic Scanning Device for Intraoperative Endomicroscopy in MIS

Optical biopsy methods such as probe-based confocal endomicroscopy can provide intraoperative real-time assessment of tumour margins, including during minimally invasive surgery with flexible endoscopes or robotic platforms. Mosaics can be produced by translating the probe across the target, but it remains difficult to scan over a large field-of-view with a flexible endomicroscope. In this paper, we have developed a novel flexible scanning device for intraoperative endomicroscopy in MIS. A Schott leached imaging bundle was integrated into the device and enables the approach, via a flexible path, to deep and narrow spaces in the human body that otherwise would not accessible. The proposed device uses a gear-based flexible concentric tube scanning mechanism to facilitate large field-of-view mosaicing. Experimental results show that the device is able to scan different surface trajectories (e.g. a spiral pattern over a hemi-spherical surface). Results from lens tissue paper and porcine liver tissue are demonstrated, illustrating a viable scanning approach for endomicroscopy in MIS

A balloon endomicroscopy scanning device for diagnosing barrett's oesophagus

Confocal endomicroscopy can be used for identification of early mucosal dysplasia in various gastrointestinal conditions, and has particular potential in the monitoring of Barrett's oesophagus and the early stages of oesophageal cancer. However, it can be difficult to systematically scan a significant area of the oesophagus because of the small field-of-view and limited flexibility of the probe. Tissue deformation and inconsistent probe-tissue contact also make it difficult to form large mosaics. A mechanical scanning device is therefore desirable for controlled, large area surface scanning and mosaicing of the oesophagus. This paper proposes a robotic catheter encapsulated in an inflatable balloon, providing stable scanning over the oesophageal surface. It has an outer diameter of 3 mm, making it suitable for deployment through an endoscope working channel, and uses a custom endomicroscopy probe based on a leached flexible fibre bundle and an external confocal laser scanning system. Detailed mechanical performance and image quality evaluations were performed to assess the clinical potential of the device. In ex vivo studies using swine oesophagus, long helical scans were obtained, demonstrating that the device is able to scan the lumen stably and maintain good probe-tissue contact. The experimental results demonstrate the potential of the robotic catheter for systematic high-resolution imaging of the oesophageal mucosa, potentially reducing or even eliminating the need for physical biopsy

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the image mosaicing process of lens tissue paper by robotic scanning devic

Toward Intraoperative Breast Endomicroscopy With a Novel Surface-Scanning Device

New optical biopsy methods such as confocal endomicroscopy represent a promising tool for breast conserving surgery, allowing real-time assessment of tumor margins. However, it remains difficult to scan over a large surface area because of the small field-of-view. This paper presents a novel robotic instrument to perform automated scanning with a fiber bundle endomicroscope probe to expand the effective imaging area. The device uses a rigid concentric tube scanning mechanism to facilitate large-area mosaicking. It has a compact design with a diameter of 6 mm, incorporating a central channel with a diameter of 3 mm for passing through a fiber bundle probe. A bespoke bearing, an inflated balloon, and a passive linear structure are used to control image rotation and ensure consistent tool-tissue contact. Experimental results show that the device is able to scan a spiral trajectory over a large hemispherical surface. Detailed performance evaluation was performed and the bending angle ranges from -90° to 90° with high repeatability and minimal rotational hysteresis errors. The device has also been validated with breast phantom and ex vivo human breast tissue, demonstrating the potential clinical value of the system

Development of a large area scanner for intraoperative breast endomicroscopy

Recent work on probe-based confocal endomicroscopy has demonstrated its potential role for real-time assessment of tumour margins during breast conserving surgery. However, endomicroscope probes tend to have a very small field-of-view, making surveillance of large areas of tissue difficult, and limiting practical clinical deployment. In this paper, a new robotic device for controlled, large area scanning based on a fibre bundle endomicroscope probe is proposed. The prototype uses a 2-DOF mechanism (-90 to +90 degrees bending on one axis, 360 degrees of rotation on a second axis) as well as a passive linear structure to conform to undulating surfaces. Both axes are driven by brushless DC servo motors with computer control, thus facilitating large field-of-view mosaicing. Experimental results have shown good repeatability and low hysteresis of the device, which is able to scan different surface trajectories (e.g. a spiral pattern over a hemi-spherical surface) with consistent tissue contact. Ex vivo human breast tissue results are demonstrated, illustrating a viable scanning approach for breast endomicroscopy

Facile Ultrasonic Synthesis of CoO Quantum Dot/Graphene Nanosheet Composites with High Lithium Storage Capacity

In this paper, we report a facile ultrasonic method to synthesize well-dispersed CoO quantum dots (3-8 nm) on graphene nanosheets at room temperature by employing Co-4(CO)(12) as cobalt precursor. The prepared CoO/graphene composites displayed high performance as an anode material for lithium-ion battery, such as high reversible lithium storage capacity (1592 mAh g(-1) after 50 cycles), high Coulombic efficiency (over 95%), excellent cycling stability, and high rate capability (1008 mAh g(-1) with a total retention of 77.6% after 50 cycles at a current density of 1000 mA g(-1), dramatically increased from the initial 50 mA g(-1)). The extraordinary performance arises from the structure advantages of the composites: the nanosized CoO quantum dots with high dispersity on conductive graphene substrates supply not only large quantity of accessible active sites for lithium-ion insertion but also good conductivity and short diffusion length for lithium ions, which are beneficial for high capacity and rate capability. Meanwhile, the isolated CoO quantum dots anchored tightly on the graphene nanosheets can effectively circumvent the volume expansion/contraction associated with lithium insertion/extraction during discharge/charge processes, which is good for high capacity as well as cycling stability. Moreover, regarding the anomalous behavior of capacity increase with cycles (activation effect) observed, we proposed a tentative hypothesis stressing the competition between the conductivity increase and the amorphorization of the composite electrodes during cycling in determining the trends of the capacity, in the hope to gain a fuller understanding of the inner working of the novel nanostructured electrode-based lithium-ion batteries