柔性传感机器人OCT神经内窥镜的设计与评价

Junyan Yan, Peng Chen, Jibiao Chen, Jiaqi Xue, Chao Xu, Yufu Qiu, Haiyang Fang, Yiang Lu, G. Wong, Yun-hui Liu, W. Yuan, S. Cheng
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引用次数: 0

摘要

内窥镜光学相干断层扫描(OCT)已经证明了其在体内观察人体器官内部精细显微结构和细微病变的能力。然而,目前刚性OCT内窥镜的成像深度有限,且远端灵活性不足,这阻碍了它在受限、敏感且相对较大(几厘米)的手术空间(如脑深部病变)中进行主动评估和临床应用。在这项工作中,我们开发了一种柔性传感机器人OCT神经内窥镜,它结合了一个2自由度(DOF)电缆驱动连续机械臂(CM)、一个超高分辨率800纳米OCT探头和一个多芯光纤布拉格光栅(MCFBG)光纤传感器。通过实验验证了MCFBG测量内窥镜弯曲姿态的正确性。利用OCT a线信号,精确测量OCT探针尖端与周围组织边界之间的轴向距离。在离体实验中,进一步证明了OCT神经内窥镜在猪脑模拟病变幻体内导航和转向的可行性。我们的OCT神经内窥镜具有远端可操作性和超高分辨率成像能力,轴向分辨率约为2.4 μm(空气中),表明其在深部脑内微创成像指导诊断和治疗的临床潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and Evaluation of a Flexible Sensorized Robotic OCT Neuroendoscope
Endoscopic optical coherence tomography (OCT) has demonstrated its capability to visualize the fine microstructures and subtle lesions inside human organs in vivo. However, the limited imaging depth and the lack of distal dexterity of the current rigid OCT endoscope prohibits its proactive assessment and clinical utilities in the confined, sensitive, and yet relatively large (a few centimeters) surgical space, such as the lesion in deep brain. In this work, we developed a flexible sensorized robotic OCT neuroendoscope, which combines a 2-degree-of-freedom (DOF) cable-driven continuum manipulator (CM) with an ultrahigh-resolution 800-nm OCT probe and a multi-core fiber Bragg grating (MCFBG) fiber sensor. The MCFBG measurements of the bending posture of the endoscope was validated through experiments. By leveraging the OCT A-line signals, axial distance was precisely measured between the OCT probe tip and the surrounding tissue boundary. The feasibility of OCT neuroendoscope was further demonstrated to navigate and steer inside a porcine brain-simulated lesion phantom in an ex-vivo experiment. Our OCT neuroendoscope offers distal maneuverability and ultrahigh-resolution imaging capability at an axial resolution of about 2.4 μm (in air), suggesting its clinical potential for minimally-invasive imaging-guided diagnosis and treatment in deep brain in vivo.
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