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A novel force-controlled probe enhances intraoperative endomicroscopy by maintaining consistent tissue contact. This improves large area imaging on complex 3D surfaces during cancer surgery.

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Area of Science:

  • Biomedical Engineering
  • Surgical Technology
  • Medical Imaging

Background:

  • Real-time intraoperative tissue biopsy is crucial for accurate cancer surgery margin definition.
  • Miniaturized biophotonics probes enable cellular-level, in vivo endomicroscopy.
  • Current limitations include restricted fields of view and challenges in covering complex 3D tissue surfaces.

Purpose of the Study:

  • To develop a force-controlled probe for intraoperative endomicroscopy.
  • To improve tissue contact and imaging over complex surfaces during surgery.
  • To integrate the probe with existing surgical robotic systems like the Da Vinci®.

Main Methods:

  • A novel low-friction air bearing with adaptive axial force control was designed.
  • The probe was integrated with Da Vinci surgical instruments for endomicroscopy.
  • Ex vivo user experiments were conducted to evaluate performance.

Main Results:

  • The adaptive probe mount achieved consistent, low-magnitude contact forces compared to rigid mounts.
  • User studies demonstrated improved handling and control during imaging.
  • Larger image mosaics were generated over curved surfaces using the adaptive probe and high frame rate endomicroscopy.

Conclusions:

  • The developed force-controlled probe enhances large area mosaicking over complex 3D surfaces.
  • Improved intraoperative handling and control facilitate more effective tumor margin definition.
  • This technology offers a promising advancement for real-time surgical guidance.