Toward intraoperative breast endomicroscopy with a novel surface-scanning device
File(s)
Author(s)
Zuo, S
Hughes, M
Seneci, C
Chang, TP
Yang, G-Z
Type
Journal Article
Abstract
New optical biopsy methods such as confocal endomicroscopy represent a promising tool for breast conserving surgery, allowing real-time assessment of tumor margins. However, it remains difficult to scan over a large surface area because of the small field-of-view. This paper presents a novel robotic instrument to perform automated scanning with a fiber bundle endomicroscope probe to expand the effective imaging area. The device uses a rigid concentric tube scanning mechanism to facilitate large-area mosaicking. It has a compact design with a diameter of 6 mm, incorporating a central channel with a diameter of 3 mm for passing through a fiber bundle probe. A bespoke bearing, an inflated balloon, and a passive linear structure are used to control image rotation and ensure consistent tool-tissue contact. Experimental results show that the device is able to scan a spiral trajectory over a large hemispherical surface. Detailed performance evaluation was performed and the bending angle ranges from -90° to 90° with high repeatability and minimal rotational hysteresis errors. The device has also been validated with breast phantom and ex vivo human breast tissue, demonstrating the potential clinical value of the system.
Date Issued
2015-07-13
Date Acceptance
2015-07-09
Citation
IEEE Transactions on Biomedical Engineering, 2015, 62 (12), pp.2941-2952
ISSN
1558-2531
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Start Page
2941
End Page
2952
Journal / Book Title
IEEE Transactions on Biomedical Engineering
Volume
62
Issue
12
Copyright Statement
© 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000368419300019&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Grant Number
EP/I027769/1
Subjects
Science & Technology
Technology
Engineering, Biomedical
Engineering
Breast conserving surgery (BCS)
Confocal endomicroscopy
Image mosaicking
Mechanical design
Surgical robot
Confocal laser endomicroscopy
In-vivo
Cancer
Tissue
Conservation
Time
Biomedical Engineering
Electrical And Electronic Engineering
Artificial Intelligence And Image Processing
Publication Status
Published