Laparoscopic optical biopsies: in vivo robotized mosaicing with probe-based confocal endomicroscopy
(2011) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011) — Location: San Francisco, CA (25.September.2011)
Files
IROS11_0325_FI.pdf
Restricted Access - Adobe PDF
- 1.32 MB
Details
- Authors
- Abstract
- Probe-based confocal laser endomicroscopy is a promising technology for performing minimally-invasive optical biopsies. With the help of mosaicing algorithms, several studies reported successful results in endoluminal surgery. In this paper, we present a prototype for making robotized optical biopsies on a variety of organs inside the abdominal cavity. We chose a macro-micro association, with a macropositioner, a micropositioner and a passive mechanical compensation of physiological motion. The probe is actuated by three hydraulic micro-balloons and can be moved on the surface of an organ to generate a mosaic. This paper presents the design and experimental results of a first in vivo trial on a porcine model.
- Affiliations
Université Pierre et Marie-Curie - CNRS Institut des Systèmes Intelligents et de Robotique Université Paris Descartes Department of Medical and Surgical Digestive Disease, Institut Mutualiste Montsouris
Citations
Rosa, B., Herman, B., Szewczyk, J., Gayet, B., & Morel, G. (2011). Laparoscopic optical biopsies: in vivo robotized mosaicing with probe-based confocal endomicroscopy. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011), 1339-1345. https://doi.org/10.1109/IROS.2011.6048122