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- Publisher Website: 10.1109/IROS.2012.6385535
- Scopus: eid_2-s2.0-84872347735
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Conference Paper: A hand-held instrument for in vivo probe-based confocal laser endomicroscopy during Minimally Invasive Surgery
Title | A hand-held instrument for in vivo probe-based confocal laser endomicroscopy during Minimally Invasive Surgery |
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Authors | |
Keywords | force adaptive control TEO confocal endomicroscopy hand-held imaging probe tissue characterization pCLE TEM |
Issue Date | 2012 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2012, p. 1982-1987 How to Cite? |
Abstract | Probe-based confocal laser endomicroscopy (pCLE) provides high resolution imaging of tissue in vivo. Maintaining a steady contact between target tissue and pCLE probe tip is important for image consistency. In this paper, a new prototype hand-held instrument for in vivo pCLE during Minimally Invasive Surgery (MIS) is presented. The proposed instrument incorporates adaptive force sensing and actuation, allowing improved image consistency and force control, thus minimizing tissue deformation and induced micro-structural variations. The performance and accuracy of the contact force control are evaluated in detailed laboratory settings and in vivo validation of the device during transanal microsurgery in a live porcine model further demonstrates the potential clinical value of the device. © 2012 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/199926 |
ISSN | 2023 SCImago Journal Rankings: 1.094 |
DC Field | Value | Language |
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dc.contributor.author | Tun Latt, Win | - |
dc.contributor.author | Chang, Toupin | - |
dc.contributor.author | Di Marco, Aimee | - |
dc.contributor.author | Pratt, Philip J. | - |
dc.contributor.author | Kwok, Kawai | - |
dc.contributor.author | Clark, James A. | - |
dc.contributor.author | Yang, Guangzhong | - |
dc.date.accessioned | 2014-07-26T23:10:55Z | - |
dc.date.available | 2014-07-26T23:10:55Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2012, p. 1982-1987 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10722/199926 | - |
dc.description.abstract | Probe-based confocal laser endomicroscopy (pCLE) provides high resolution imaging of tissue in vivo. Maintaining a steady contact between target tissue and pCLE probe tip is important for image consistency. In this paper, a new prototype hand-held instrument for in vivo pCLE during Minimally Invasive Surgery (MIS) is presented. The proposed instrument incorporates adaptive force sensing and actuation, allowing improved image consistency and force control, thus minimizing tissue deformation and induced micro-structural variations. The performance and accuracy of the contact force control are evaluated in detailed laboratory settings and in vivo validation of the device during transanal microsurgery in a live porcine model further demonstrates the potential clinical value of the device. © 2012 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.subject | force adaptive control | - |
dc.subject | TEO | - |
dc.subject | confocal endomicroscopy | - |
dc.subject | hand-held imaging probe | - |
dc.subject | tissue characterization | - |
dc.subject | pCLE | - |
dc.subject | TEM | - |
dc.title | A hand-held instrument for in vivo probe-based confocal laser endomicroscopy during Minimally Invasive Surgery | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2012.6385535 | - |
dc.identifier.scopus | eid_2-s2.0-84872347735 | - |
dc.identifier.spage | 1982 | - |
dc.identifier.epage | 1987 | - |
dc.identifier.eissn | 2153-0866 | - |
dc.identifier.issnl | 2153-0858 | - |