A Hand-held Instrument to Maintain Steady Tissue Contact during Probe-Based Confocal Laser Endomicroscopy

Probe-based confocal laser endomicroscopy (pCLE) provides high-resolution in vivo imaging for intraoperative tissue characterization. Maintaining a desired contact force between target tissue and the pCLE probe is important for image consistency, allowing large area surveillance to be performed. A h...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 2011-09, Vol.58 (9), p.2694-2703
Main Authors: Latt, Win Tun, Newton, Richard C., Visentini-Scarzanella, Marco, Payne, Christopher J., Noonan, David P., Shang, Jianzhong, Yang, Guang-Zhong
Format: Article
Language:English
Subjects:
Aberrant Crypt Foci - pathology
Actuators
Animals
Applied sciences
Biological and medical sciences
Colon - pathology
Colonic Neoplasms - pathology
Computerized, statistical medical data processing and models in biomedicine
Confocal endomicroscopy
Endoscopy
Endoscopy - instrumentation
Endoscopy - methods
Equipment Design
Exact sciences and technology
Force
force adaptive control
Force control
hand-held imaging probe
Humans
Image processing
Image Processing, Computer-Assisted - methods
Information, signal and communications theory
Intestinal Mucosa - pathology
Investigative techniques, diagnostic techniques (general aspects)
Lasers
Manganese
Medical management aid. Diagnosis aid
Medical sciences
Microscopy, Confocal - instrumentation
Microscopy, Confocal - methods
Miscellaneous. Technology
Models, Biological
pCLE
Phantoms
Phantoms, Imaging
Probes
Signal processing
Surgery, Computer-Assisted - instrumentation
Swine
Telecommunications and information theory
tissue characterization
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Description
Summary:Probe-based confocal laser endomicroscopy (pCLE) provides high-resolution in vivo imaging for intraoperative tissue characterization. Maintaining a desired contact force between target tissue and the pCLE probe is important for image consistency, allowing large area surveillance to be performed. A hand-held instrument that can provide a predetermined contact force to obtain consistent images has been developed. The main components of the instrument include a linear voice coil actuator, a donut load-cell, and a pCLE probe. In this paper, detailed mechanical design of the instrument is presented and system level modeling of closed-loop force control of the actuator is provided. The performance of the instrument has been evaluated in bench tests as well as in hand-held experiments. Results demonstrate that the instrument ensures a consistent predetermined contact force between pCLE probe tip and tissue. Furthermore, it compensates for both simulated physiological movement of the tissue and involuntary movements of the operator's hand. Using pCLE video feature tracking of large colonic crypts within the mucosal surface, the steadiness of the tissue images obtained using the instrument force control is demonstrated by confirming minimal crypt translation.
ISSN:0018-9294
1558-2531
DOI:10.1109/TBME.2011.2162064