A hand-held instrument for in vivo probe-based confocal laser endomicroscopy during Minimally Invasive Surgery

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 1982-1987

  Tun Latt, Win ^a   Chang, Tou Pin ^b   Di Marco, Aimee ^b   Pratt, Philip ^b   Kwok, Ka Wai ^b   Clark, James ^b   Yang, Guang Zhong ^b  

^a SINGAPORE POLYTECHNIC   (Singapore)

^b IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

confocal endomicroscopy; force adaptive control; hand held imaging probe; pCLE; TEM; TEO; tissue characterization

Indexed keywords

ADAPTIVE CONTROL; CONFOCAL ENDOMICROSCOPY; IMAGING PROBE; PCLE; TEO; TISSUE CHARACTERIZATION;

FORCE CONTROL; INTELLIGENT SYSTEMS; LASERS; SURGICAL EQUIPMENT; TISSUE; TRANSMISSION ELECTRON MICROSCOPY;

INSTRUMENTS;

EID: 84872347735     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385535     Document Type: Conference Paper

References (29)

1. D. Huang, et al., "Optical coherence tomography," Science, 1991. 254(5035): p. 1178-1181.
2. R. A. Cahill et al., "Intraperitoneal virtual biopsy by fibered optical coherence tomography (OCT) at natural orifice transluminal endoscopic surgery (NOTES)", J. Gastrointest Surg;14:732-8.
3. R. Kiesslich, et al., "In Vivo Histology of Barrett's Esophagus and Associated Neoplasia by Confocal Laser Endomicroscopy," Clinical Gastroenterology and Hepatology, 2006. 4(8): p. 979-987.
4. M. B. Wallace, and P. Fockens, "Probe-based confocal laser endomicroscopy", Gastroenterology 2009;136:1509-13.
5. H. Pohl et al. "Miniprobe confocal laser microscopy for the detection of invisible neoplasia in patients with Barrett's oesophagus", Gut 2008;57:1648-53.
6. L. Thiberville, S. Moreno-Swirc, T. Vercauteren, E. Peltier, C. Cave, H. G. Bourg, "In vivo imaging of the bronchial wall microstructure using fibered confocal fluorescence microscopy," Am J Respir Crit Care Med 2007;175:22-31.
7. G. A. Sonn, S. N. Jones, T. V. Tarin, C. B. Du, K. E. Mach, K. C. Jensen, et al. "Optical biopsy of human bladder neoplasia with in vivo confocal laser endomicroscopy," J Urol 2009;182:1299-305.
8. S. von Delius et al. "Transgastric in vivo histology in the peritoneal cavity using miniprobe-based confocal fluorescence microscopy in an acute porcine model," Endoscopy, 2007;39:407-11.
9. W. T. Latt et al., "A Hand-held Instrument to Maintain Steady Tissue Contact during Probe-Based Confocal Laser Endomicroscopy," IEEE Trans. on Biomedical Engineering, Vol. 58, No. 9, Sep 2011.
10. R. C. Newton, D. P. Noonan, C. Payne, J. Andreyev, A. Di Marco, M. V. Scarzanella, A. Darzi, G-Z. Yang, "Probe tip contact force and bowel distension affect crypt morphology during confocal endomicroscopy," Gut 60:A12-A13, 2011.
11. L. Thiberville, et al., "Human in vivo fluorescence microimaging of the alveolar ducts and sacs during bronchoscopy," Eur Respir J 2009;33:974-85.
12. Y. Ti, and W. C. Lin, "Effects of probe contact pressure on in vivo optical spectroscopy," Opt Express 2008;16:4250-62.
13. B. Rosa, B. Herman, J. Szewczyk, B. Gayet, and G. Morel, "Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy," IEEE/RSJ International Conference on Intelligent Robots and Systems, CA, USA, Sep 2011.
14. V. Becker, T. Vercauteren, C. H. von Weyhern, C. Prinz, R. M. Schmid, and A. Meining, "High-resolution miniprobe-based confocal microscopy in combination with video mosaicing (with video)," Gastrointestinal Endoscopy 2007;66:1001-7.
15. G. Duchemin, E. Dombre, F. Pierrot, and P. Poignet, "Robotized Skin Harvesting," 8th Int. Symp. on Exp. Robotics, Italy, July 8-11, 2002.
16. G. Duchemin, E. Dombre, F. Pierrot, and P. Poignet, "Robotized skin harvesting," in Experimental Robotics VIII, Berlin, Germany: SpringerVerlag, vol. 5, 2003, pp. 404-413.
17. J. Stoll and P. Dupont, "Force control for grasping soft tissue," IEEE Int. Conf. on Robotics and Automation, Orlando, Florida, May 2006.
18. S. G. Yuen, et al., "Force tracking with feed-forward motion estimation for beating heart surgery," IEEE Trans. on Robotics, Vol. 26, No. 5, Oct 2010.
19. G. Stetten, B. Wu, R. Klatzky, J. Galeotti, M. Siegel, R. Lee, F. Mah, A. Eller, J. Schuman, and R. Hollis, "Hand-held force magnifier for surgical instruments," in Proc. IPCAI, LNCS 6689, 2011, pp. 90-100.
20. C. J. Payne, W. T. Latt, and G-Z. Yang, "A New Hand-Held Force-Amplifying Device for Micromanipulation," IEEE International Conference on Robotics and Automation, 2012, pp. 1583 - 1588.
21. D. P. Noonan, C. J. Payne, J. Shang, R. Newton, A. Darzi, and G.-Z. Yang, "Maintaining Constant Tissue Contact Force for an Imaging Probe during Confocal Laser Endomicroscopy," The Hamlyn Sym. on Medical Robotics, 25 May, The Royal Society, Lonon UK.
22. D. P. Noonan, C. J. Payne, J. Shang, V. Sauvage, R. Newton, D. Elson, A. Darzi, and G.-Z. Yang, "Force adaptive multi-spectral imaging with an articulated robotic endoscope," MACCAI 2010, MICCAI 2010, Part III, LNCS 6363, pp. 245-252, 2010.
23. E. J. R. de Graaf, P.G. Doornebosch, L.P.S. Stassen, J.M.H. Debets, G.W.M. Tetteroo, W.C.J. Hop, "Transanal endoscopic microsurgery for rectal cancer," European Journal of Cancer 38 (2002) 904-910.
24. R. C. Harwell, and R. L. Ferguson, "Physiologic tremor and microsurgery," Microsurgery, vol. 4, pp. 187-192, 1983.
25. P. S. Schenker, et al. "Development of a telemanipulator for dexterity enhanced microsurgery," Proc. 2nd Int. Symp. Med. Rob. Comput. Assist. Surg., 1995.
26. L. F. Hotraphinyo, and C. N. Riviere. "Precision Measurement for Microsurgical Instrument Evaluation," Proc. of the 23rd Annu. EMBS International Conference, Istanbul, Turkey, 2001.
27. L. F. Hotraphinyo, and C. N. Riviere, "Three-dimensional accuracy assessment of eye surgeons," Proc. 23rd Annu. Conf. IEEE Eng. Med. Biol. Soc., Istanbul, 2001.
28. J. M. Balter, L. A. Dawson, S. Kazanjian, C. Mcginn, K. K. Brock, T. Lawrence, and R. T. Haken, "Determination of ventilatory liver movement via radiographic evaluation of diaphragm position," Int. J. Radiation Oncology Biol. Phys., Vol. 51, No. 1, pp. 267-270, 2001.
29. S. G. Yuen, D. T. Kettler, P. M. Novotny, R. D. Plowes, and R. D. Howe, "Robotic motion compensation for beating heart intracardiac surgery," Int. J. of Robotics Research, vol. 28, no. 10, pp. 1355-1372, 2009.