Zuo Siyang, Hughes Michael, Yang Guang-Zhong
Hamlyn Centre for Robotic Surgery, Imperial College London, London, SW7 2AZ, UK.
Ann Biomed Eng. 2016 Jul;44(7):2313-26. doi: 10.1007/s10439-015-1493-2. Epub 2015 Oct 27.
Recent advances in fluorescence confocal endomicroscopy have allowed real-time identification of residual tumour cells on the walls of the cavity left by breast conserving surgery. However, it is difficult to systematically survey the surgical site because of the small imaging field-of-view of these probes, compounded by tissue deformation and inconsistent probe-tissue contact when operated manually. Therefore, a new robotized scanning device is required for controlled, large area scanning and mosaicing. This paper presents a robotic scanning probe with an inflatable balloon, providing stable cavity scanning over undulating surfaces. It has a compact design, with an outer diameter of 4 mm and a working channel of 2.2 mm, suitable for a leached flexible fibre bundle endomicroscope probe. With the probe inserted, the tip positioning accuracy measured to be 0.26 mm for bending and 0.17 mm for rotational motions. Large area scanning was achieved (25-35 mm(2)) and the experimental results demonstrate the potential clinical value of the device for intraoperative cavity tumour margin evaluation.
荧光共聚焦内镜检查的最新进展使得在保乳手术后留下的腔壁上实时识别残留肿瘤细胞成为可能。然而，由于这些探头的成像视野较小，加上手动操作时组织变形和探头与组织接触不一致，很难对手术部位进行系统的检查。因此，需要一种新的机器人扫描设备来进行可控的大面积扫描和拼接。本文介绍了一种带有可充气气球的机器人扫描探头，可在起伏表面上进行稳定的腔扫描。它设计紧凑，外径为4毫米，工作通道为2.2毫米，适用于浸出式柔性纤维束内镜探头。插入探头后，测量出弯曲时尖端定位精度为0.26毫米，旋转运动时为0.17毫米。实现了大面积扫描（25 - 35平方毫米），实验结果证明了该设备在术中腔肿瘤边缘评估方面的潜在临床价值。
