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

This Letter presents, for the first time to our knowledge, a continuum robotic-steered endoluminal volumetric photoacoustic tomography probe. With regard to the design of the probe, a coaxial optical and acoustic imaging system has been developed that employs a custom designed piezoelectric micromachined ultrasonic transducer (PMUT). The dimensions of the system are constrained within a cylindrical housing with a diameter of 12 mm and a length of 30 mm. In regard to the robot design, the motion capabilities of the continuum robot have been successfully modeled and characterized. Based on the proposed system, the potential for early detection and screening of gastrointestinal cancers through phantoms has been validated. The experimental results demonstrate that the robotic-assisted photoacoustic system performs well in localizing unknown lesions and characterizing deep-seated abnormalities, exhibiting promising clinical applications.