Conic-Spiraleur: A Miniature Distal Scanner for Confocal Microlaparoscope

Abstract

Confocal microlaparoscopy is a promising approach in minimally invasive surgery for replacing conventional biopsies that involve physical tissue sampling. However, the typical images acquired with this technique cover a very small area limited by the field of view of the probe. This paper presents the mechanical design of a distal scanner, the conic-spiraleur, to perform automated spiral scan with the probe in order to construct a mosaic-image. The design of the conic-spiraleur is based on using a conic structure with a particularly curved surface. The pieces of the design are simple to manufacture and easy to assemble with conventional methods to form a device that can be inserted through a conventional 5-mm diameter trocar. We present the pieces, assembly, control, and precision test of the system. The system is tested in vivo in an experimental pig operation. We present the first in vivo, large fieldof-view (3 mm 2 ) and high resolution (1.4-μm lateral and 10-μm axial) images in confocal microscopy.

Endomicroscopy for Computer and Robot Assisted Intervention

“…Erden et al presents a mechanical design of a distal scanner using the conic-spiraleur mechanism, to perform automated spiral scan with the probe in order to construct a mosaic-image [77]. The design of the conic-spiraleur is based on using a conic structure with a particularly curved surface.…”

“…They present an in vivo field of view with 3 mm 2 and high resolution (1.4-μm lateral and 10-μm axial) images in confocal microscopy. The target of [76] and [77] were applications for which the scanning device must remain compact. The system used in [77] was targeted towards generation a continuous mosaic of 3 mm 2 .…”

Toward Intraoperative Breast Endomicroscopy With a Novel Surface-Scanning Device

“…Studies in [18] aimed to generate a mosaic under 3 mm 2 in areas without any gaps. Our scanning device is able to scan both overlapping trajectories in a focused area (under 3mm 2 ) and non-overlap trajectories in a large hemispherical area (under 20 mm in radius).…”

“…An articulated robot for manipulation of biophotonics probes was first developed by Noonan et al for intra-operative integration of laparoscopic instruments [16]. Rosa et al developed a scanning device using hydraulic micro-balloons [17], and a conic structure was developed by Erden et al [18]. A cooperative robotic arm (KUKA Roboter GmbH, Augsburg, Germany) has also been used to generate a 3D map of the tissue [19].…”

“…A cooperative robotic arm (KUKA Roboter GmbH, Augsburg, Germany) has also been used to generate a 3D map of the tissue [19]. However, the target of [17] and [18] were applications for which the scanning device must remain very compact. As a result, only relatively small areas of tissue could be mosaiced.…”