Design of a Miniature Observation Robot for Light Emitting Diode Irradiation and Indocyanine Green Fluorescence-emission Guided Lymph Node Monitoring in Operating Rooms.

IF 1.2 4区 医学 Q3 SURGERY
Surgical Innovation Pub Date : 2023-12-01 Epub Date: 2023-10-12 DOI:10.1177/15533506231206871
Hyeon-Woong Seo, Kicheol Yoon, Sangyun Lee, Won-Suk Lee, Kwang Gi Kim
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引用次数: 0

Abstract

Motivation: Typical surgical microscopes used for fluorescence-based lymph node detection experience limitations such as weight and restricted adjustability of the integrated light emitting diode (LED) and camera. This restricts the capture of detailed images of specific regions within the lesion.

Research goal: This study proposes a miniature observation robot design that offers adjustable working distance (WD) and rotational radius, along with zoom-in/zoom-out functionality.

Methods: A five-degree-of-freedom manipulator was designed, with the end effector incorporating an LED and concave lens to widen the beam width for comprehensive lesion illumination. Additionally, a long-pass filter was integrated into the camera system to enhance image resolution.

Experimental results: Experiments were conducted using a fluorescence-expressing phantom to evaluate the performance of the robot. Results demonstrated a captured image resolution of 9600 × 3240 pixels and a zoom-in/zoom-out capacity of up to 3.68 times.

Conclusion: The proposed robot design is cost-effective and highly adjustable, enabling suitability for rapid and accurate detection of fresh lymph nodes during surgeries. The robot's capability to detect small lesions (<1 cm), as validated by phantom tests, holds promise for the detection of minute lymph nodes.

用于发光二极管照射和吲哚菁绿荧光发射引导的手术室淋巴结监测的微型观察机器人的设计。
动机:用于基于荧光的淋巴结检测的典型外科显微镜受到重量和集成发光二极管(LED)和相机的可调节性限制等限制。这限制了对病变内特定区域的详细图像的捕获。研究目标:本研究提出了一种微型观测机器人设计,提供可调节的工作距离(WD)和旋转半径,以及放大/缩小功能。方法:设计了一种五自由度机械手,末端执行器结合了LED和凹透镜,以加宽光束宽度,实现对病变的全面照明。此外,在相机系统中集成了一个高通滤波器,以提高图像分辨率。实验结果:使用荧光表达体模进行实验,以评估机器人的性能。结果显示,捕获的图像分辨率为9600×3240像素,放大/缩小能力高达3.68倍。结论:所提出的机器人设计具有成本效益和高度可调性,适用于在手术中快速准确地检测新鲜淋巴结。机器人检测微小病变的能力(
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来源期刊
Surgical Innovation
Surgical Innovation 医学-外科
CiteScore
2.90
自引率
0.00%
发文量
72
审稿时长
6-12 weeks
期刊介绍: Surgical Innovation (SRI) is a peer-reviewed bi-monthly journal focusing on minimally invasive surgical techniques, new instruments such as laparoscopes and endoscopes, and new technologies. SRI prepares surgeons to think and work in "the operating room of the future" through learning new techniques, understanding and adapting to new technologies, maintaining surgical competencies, and applying surgical outcomes data to their practices. This journal is a member of the Committee on Publication Ethics (COPE).
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