Latt Win Tun, Chang Tou Pin, Di Marco Aimee, Pratt Philip, Kwok Ka-Wai, Clark James, Yang Guang-Zhong
Singapore Polytechnic, Singapore. ;
Department of Surgery & Cancer, Imperial College London, UK.
Rep U S. 2012 Oct 12;2012:1982-1987. doi: 10.1109/IROS.2012.6385535.
Probe-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.
基于探头的共聚焦激光内镜术（pCLE）可提供体内组织的高分辨率成像。保持目标组织与pCLE探头尖端之间的稳定接触对于图像一致性很重要。本文介绍了一种用于微创手术（MIS）期间进行体内pCLE的新型手持式仪器原型。所提出的仪器集成了自适应力传感和驱动功能，可改善图像一致性和力控制，从而最大程度地减少组织变形和诱导的微观结构变化。在详细的实验室环境中评估了接触力控制的性能和准确性，并且在活猪模型中进行经肛门显微手术期间对该设备进行的体内验证进一步证明了该设备的潜在临床价值。
