Robotically steerable intraluminal imaging probe with side-viewing 3D photoacoustic computed tomography

Area of Science:

• Biomedical Engineering
• Medical Imaging
• Robotics

Background:

• Early detection of gastrointestinal cancers is crucial for improving patient outcomes.
• Current endoscopic imaging methods have limitations in detecting deep-seated or subtle abnormalities.
• Advancements in photoacoustic tomography (PAT) offer potential for enhanced visualization of subsurface tissue structures.

Purpose of the Study:

• To develop and validate a novel continuum robotic-steered endoluminal volumetric photoacoustic tomography (vPAT) probe.
• To integrate a custom piezoelectric micromachined ultrasonic transducer (PMUT) into a compact endoscopic system.
• To assess the system's capability for early detection and characterization of gastrointestinal lesions.

Main Methods:

• Development of a coaxial optical and acoustic imaging system within a 12 mm diameter, 30 mm length housing.
• Design and integration of a custom PMUT for acoustic detection.
• Modeling and characterization of the continuum robot's motion capabilities for precise probe steering.
• Validation using phantom studies to mimic gastrointestinal tissue and lesions.

Main Results:

• Successful development of a compact, robotic-steered endoluminal vPAT probe.
• Demonstrated ability to accurately model and control continuum robot motion.
• Phantom studies validated the system's potential for early cancer detection and screening.
• The robotic-assisted system effectively localized unknown lesions and characterized deep-seated abnormalities.

Conclusions:

• The developed robotic endoluminal vPAT probe represents a significant advancement in endoscopic imaging.
• The system shows promising capabilities for the early detection and characterization of gastrointestinal cancers.
• Further clinical investigations are warranted to explore its full potential in patient care.