Force adaptive multi-spectral imaging with an articulated robotic endoscope

Area of Science:

• Biomedical optics
• Medical robotics
• Optical spectroscopy

Background:

• Optical spectroscopic techniques enable real-time in vivo tissue analysis.
• Small probe sensing areas and tissue deformation pose challenges for accurate in vivo measurements.
• Manual probe manipulation for mapping is difficult, especially within endoscopic instruments.

Purpose of the Study:

• To develop a force-adaptive multi-spectral imaging system integrated with a robotic endoscope.
• To enable controlled probe actuation across complex tissue surfaces while maintaining constant contact force.
• To improve the reliability and accuracy of in vivo tissue characterization and functional assessment.

Main Methods:

• Integration of a force-adaptive multi-spectral imaging system with an articulated robotic endoscope.
• Development of a system to maintain constant contact force between the probe and tissue.
• Actuation of the robotic endoscope tip across tissue surfaces for functional mapping.
• Validation using phantom and ex vivo tissue samples.

Main Results:

• The system successfully maintains constant contact force during robotic actuation.
• Controlled probe movement across complex tissue profiles is achieved.
• The system demonstrates potential for enhanced in vivo tissue characterization and intraoperative guidance.

Conclusions:

• The developed force-adaptive robotic endoscope system addresses key challenges in in vivo optical spectroscopy.
• This technology facilitates precise and reliable tissue analysis during endoscopic procedures.
• Further validation and clinical translation are warranted.