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    A novel robotic endoluminal photoacoustic tomography probe was developed for gastrointestinal cancer screening. This system successfully localized lesions and characterized abnormalities in phantom studies, showing clinical potential.

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    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.