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Robotic Scanning Device for Intraoperative Thyroid Gland Endomicroscopy
Haibo Wang1, Shuxin Wang1, Jinhua Li1
1The Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China.
Annals of Biomedical Engineering
|January 18, 2018
Summary
A new robotic device enhances probe-based confocal laser endomicroscopy for thyroidectomy by enabling large-area scanning and stable probe-tissue contact, improving tumor margin assessment.
Area of Science:
- Medical Imaging
- Robotics
- Surgical Technology
Background:
- Probe-based confocal laser endomicroscopy (pCLE) offers high-resolution in vivo imaging for thyroidectomy, aiding tumor margin assessment.
- Current limitations include small field of view, tissue deformation, and inconsistent manual probe-tissue contact.
Purpose of the Study:
- To develop a novel compact robotic device for large-area scanning in pCLE.
- To ensure stable probe-tissue contact force and compensate for manual operation inconsistencies.
Main Methods:
- A robotic device with a spiral scanning trajectory was designed.
- A fiber Bragg grating sensor was integrated for passive contact force detection and maintenance.
- Active linear actuation was incorporated for pre-scan contact level adjustment.
Main Results:
- The device successfully maintained a suitable probe-tissue contact force during scanning.
- It demonstrated compensation for simulated hand tremor.
- Mosaicing experiments on tissue samples confirmed the device's effectiveness and usability.
Conclusions:
- The developed robotic scanning device significantly enhances pCLE for thyroidectomy by enabling large-area imaging.
- It addresses limitations of manual operation, showing potential for improved intraoperative tumor margin assessment and clinical value.
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