A Miniature Flexible Scanning Device for Gastrointestinal Endomicroscopy

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-06-14 DOI:10.1002/rcs.70081

Xingfeng Xu, Jianshuo Liu, Siyang Zuo

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引用次数: 0

Abstract

Background

Probe-based confocal laser endomicroscopy (pCLE) offers real-time optical biopsy of the gastrointestinal mucosa, promising early detection of gastrointestinal cancer. However, its limited field-of-view necessitates a flexible device for expansive scanning and mosaicking of cancerous regions.

Methods

This work presents a novel 4 degree-of-freedom flexible scanning device with a 3 mm outer diameter and a 2.2 mm working channel. The positioning accuracy of the scanning mechanism was recorded as 3.94° in yaw, 4.23° in pitch, 0.17 mm in linear, and 0.69 mm in rotational motions.

Results

Ex vivo tissue scanning achieved an area of 11.4 mm². In vivo animal experimental results revealed the device's capacity to scan and mosaic an area of 5.05 mm².

Conclusions

This design is compatible with endomicroscopic probes and optimises the endoscope deployment. Comprehensive mechanical evaluations and scanning experiments demonstrated the device's clinical potential in gastrointestinal cancer diagnosis.

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一种用于胃肠道内镜检查的微型柔性扫描装置

基于探针的共聚焦激光内镜（pCLE）提供了实时的胃肠道粘膜光学活检，有望早期发现胃肠道肿瘤。然而，其有限的视野需要一个灵活的设备，以扩大扫描和镶嵌癌区域。方法设计了一种外径为3mm、工作通道为2.2 mm的4自由度柔性扫描装置。扫描机构的定位精度为横摆3.94°，俯仰4.23°，直线0.17 mm，旋转0.69 mm。结果离体组织扫描面积为11.4 mm2。体内动物实验结果显示，该设备的扫描和镶嵌面积为5.05平方毫米。结论该设计与内镜探头兼容，优化了内镜部署。综合力学评估和扫描实验证明了该装置在胃肠道癌症诊断中的临床潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.