Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope
Identifieur interne : 002809 ( Istex/Corpus ); précédent : 002808; suivant : 002810Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope
Auteurs : P. Noonan ; J. Payne ; Jianzhong Shang ; Vincent Sauvage ; Richard Newton ; Daniel Elson ; Ara Darzi ; Guang-Zhong YangSource :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2010.
Abstract
Abstract: Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.
Url:
DOI: 10.1007/978-3-642-15711-0_31
Links to Exploration step
ISTEX:86B9AE737F73C908164B72BCDB1C42552C155569Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope</title><author><name sortKey="Noonan, P" sort="Noonan, P" uniqKey="Noonan P" first="P." last="Noonan">P. Noonan</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: dnoonan@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Payne, J" sort="Payne, J" uniqKey="Payne J" first="J." last="Payne">J. Payne</name><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: cjp04@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Shang, Jianzhong" sort="Shang, Jianzhong" uniqKey="Shang J" first="Jianzhong" last="Shang">Jianzhong Shang</name><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: j.shang@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Sauvage, Vincent" sort="Sauvage, Vincent" uniqKey="Sauvage V" first="Vincent" last="Sauvage">Vincent Sauvage</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: v.sauvage@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Newton, Richard" sort="Newton, Richard" uniqKey="Newton R" first="Richard" last="Newton">Richard Newton</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: r.newton@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Elson, Daniel" sort="Elson, Daniel" uniqKey="Elson D" first="Daniel" last="Elson">Daniel Elson</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: ds.elson@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Darzi, Ara" sort="Darzi, Ara" uniqKey="Darzi A" first="Ara" last="Darzi">Ara Darzi</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: a.darzi@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: g.z.yang@imperial.ac.uk</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:86B9AE737F73C908164B72BCDB1C42552C155569</idno><date when="2010" year="2010">2010</date><idno type="doi">10.1007/978-3-642-15711-0_31</idno><idno type="url">https://api.istex.fr/document/86B9AE737F73C908164B72BCDB1C42552C155569/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">002809</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope</title><author><name sortKey="Noonan, P" sort="Noonan, P" uniqKey="Noonan P" first="P." last="Noonan">P. Noonan</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: dnoonan@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Payne, J" sort="Payne, J" uniqKey="Payne J" first="J." last="Payne">J. Payne</name><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: cjp04@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Shang, Jianzhong" sort="Shang, Jianzhong" uniqKey="Shang J" first="Jianzhong" last="Shang">Jianzhong Shang</name><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: j.shang@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Sauvage, Vincent" sort="Sauvage, Vincent" uniqKey="Sauvage V" first="Vincent" last="Sauvage">Vincent Sauvage</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: v.sauvage@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Newton, Richard" sort="Newton, Richard" uniqKey="Newton R" first="Richard" last="Newton">Richard Newton</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: r.newton@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Elson, Daniel" sort="Elson, Daniel" uniqKey="Elson D" first="Daniel" last="Elson">Daniel Elson</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: ds.elson@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Darzi, Ara" sort="Darzi, Ara" uniqKey="Darzi A" first="Ara" last="Darzi">Ara Darzi</name><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: a.darzi@imperial.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: g.z.yang@imperial.ac.uk</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="s">Lecture Notes in Computer Science</title><imprint><date>2010</date></imprint><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series><idno type="istex">86B9AE737F73C908164B72BCDB1C42552C155569</idno><idno type="DOI">10.1007/978-3-642-15711-0_31</idno><idno type="ChapterID">31</idno><idno type="ChapterID">Chap31</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.</div></front></TEI><istex><corpusName>springer</corpusName><author><json:item><name>David P. Noonan</name><affiliations><json:string>Department of Surgery and Cancer, Imperial College London,</json:string><json:string>Department of Computing, Imperial College London,</json:string><json:string>E-mail: dnoonan@imperial.ac.uk</json:string></affiliations></json:item><json:item><name>Christopher J. Payne</name><affiliations><json:string>Department of Computing, Imperial College London,</json:string><json:string>Institute of Biomedical Engineering, Imperial College London,</json:string><json:string>E-mail: cjp04@imperial.ac.uk</json:string></affiliations></json:item><json:item><name>Jianzhong Shang</name><affiliations><json:string>Department of Computing, Imperial College London,</json:string><json:string>E-mail: j.shang@imperial.ac.uk</json:string></affiliations></json:item><json:item><name>Vincent Sauvage</name><affiliations><json:string>Department of Surgery and Cancer, Imperial College London,</json:string><json:string>Department of Computing, Imperial College London,</json:string><json:string>E-mail: v.sauvage@imperial.ac.uk</json:string></affiliations></json:item><json:item><name>Richard Newton</name><affiliations><json:string>Department of Surgery and Cancer, Imperial College London,</json:string><json:string>Department of Computing, Imperial College London,</json:string><json:string>E-mail: r.newton@imperial.ac.uk</json:string></affiliations></json:item><json:item><name>Daniel Elson</name><affiliations><json:string>Department of Surgery and Cancer, Imperial College London,</json:string><json:string>Department of Computing, Imperial College London,</json:string><json:string>E-mail: ds.elson@imperial.ac.uk</json:string></affiliations></json:item><json:item><name>Ara Darzi</name><affiliations><json:string>Department of Surgery and Cancer, Imperial College London,</json:string><json:string>E-mail: a.darzi@imperial.ac.uk</json:string></affiliations></json:item><json:item><name>Guang-Zhong Yang</name><affiliations><json:string>Department of Computing, Imperial College London,</json:string><json:string>Institute of Biomedical Engineering, Imperial College London,</json:string><json:string>E-mail: g.z.yang@imperial.ac.uk</json:string></affiliations></json:item></author><language><json:string>eng</json:string></language><abstract>Abstract: Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.</abstract><qualityIndicators><score>5.088</score><pdfVersion>1.3</pdfVersion><pdfPageSize>430 x 660 pts</pdfPageSize><refBibsNative>false</refBibsNative><keywordCount>0</keywordCount><abstractCharCount>1159</abstractCharCount><pdfWordCount>3084</pdfWordCount><pdfCharCount>18445</pdfCharCount><pdfPageCount>8</pdfPageCount><abstractWordCount>167</abstractWordCount></qualityIndicators><title>Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope</title><genre.original><json:string>OriginalPaper</json:string></genre.original><chapterId><json:string>31</json:string><json:string>Chap31</json:string></chapterId><genre><json:string>conference [eBooks]</json:string></genre><serie><issn><json:string>0302-9743</json:string></issn><author><json:item><name>David Hutchison</name><affiliations><json:string>Lancaster University, Lancaster, UK</json:string></affiliations></json:item><json:item><name>Takeo Kanade</name><affiliations><json:string>Carnegie Mellon University, Pittsburgh, PA, USA</json:string></affiliations></json:item><json:item><name>Josef Kittler</name><affiliations><json:string>University of Surrey, Guildford, UK</json:string></affiliations></json:item><json:item><name>Jon M. Kleinberg</name><affiliations><json:string>Cornell University, Ithaca, NY, USA</json:string></affiliations></json:item><json:item><name>Friedemann Mattern</name><affiliations><json:string>ETH Zurich, Zurich, Switzerland</json:string></affiliations></json:item><json:item><name>John C. Mitchell</name><affiliations><json:string>Stanford University, Stanford, CA, USA</json:string></affiliations></json:item><json:item><name>Moni Naor</name><affiliations><json:string>Weizmann Institute of Science, Rehovot, Israel</json:string></affiliations></json:item><json:item><name>Oscar Nierstrasz</name><affiliations><json:string>University of Bern, Bern, Switzerland</json:string></affiliations></json:item><json:item><name>C. Pandu Rangan</name><affiliations><json:string>Indian Institute of Technology, Madras, India</json:string></affiliations></json:item><json:item><name>Bernhard Steffen</name><affiliations><json:string>University of Dortmund, Dortmund, Germany</json:string></affiliations></json:item><json:item><name>Madhu Sudan</name><affiliations><json:string>Massachusetts Institute of Technology, MA, USA</json:string></affiliations></json:item><json:item><name>Demetri Terzopoulos</name><affiliations><json:string>University of California, Los Angeles, CA, USA</json:string></affiliations></json:item><json:item><name>Doug Tygar</name><affiliations><json:string>University of California, Berkeley, CA, USA</json:string></affiliations></json:item><json:item><name>Moshe Y. Vardi</name><affiliations><json:string>Rice University, Houston, TX, USA</json:string></affiliations></json:item><json:item><name>Gerhard Weikum</name><affiliations><json:string>Max-Planck Institute of Computer Science, Saarbrücken, Germany</json:string></affiliations></json:item></author><language><json:string>unknown</json:string></language><eissn><json:string>1611-3349</json:string></eissn><title>Lecture Notes in Computer Science</title><copyrightDate>2010</copyrightDate></serie><host><editor><json:item><name>Tianzi Jiang</name><affiliations><json:string>The Chinese Academy of Sciences,, Institute of Automation, 100080, Beijing, P.R. China</json:string><json:string>E-mail: jiangtz@nlpr.ia.ac.cn</json:string></affiliations></json:item><json:item><name>Nassir Navab</name><affiliations><json:string>Institut für Informatik, Technische Universität München, 16, Boltzmannstr. 3, 85748, Garching, Germany</json:string><json:string>E-mail: navab@cs.tum.edu</json:string></affiliations></json:item><json:item><name>Josien P. W. Pluim</name><affiliations><json:string>University Medical Center Utrecht,, Q0S.459, Heidelberglaan 100, 3584 CX, Utrecht, The Netherlands</json:string><json:string>E-mail: j.pluim@umcutrecht.nl</json:string></affiliations></json:item><json:item><name>Max A. Viergever</name><affiliations><json:string>IUniversity Medical Center Utrecht, Q0S.459, Heidelberglaan 100, 3584 CX, Utrecht, The Netherlands</json:string><json:string>E-mail: max@isi.uu.nl</json:string></affiliations></json:item></editor><subject><json:item><value>Computer Science</value></json:item><json:item><value>Computer Science</value></json:item><json:item><value>Image Processing and Computer Vision</value></json:item><json:item><value>Pattern Recognition</value></json:item><json:item><value>Computer Graphics</value></json:item><json:item><value>Computer Imaging, Vision, Pattern Recognition and Graphics</value></json:item><json:item><value>User Interfaces and Human Computer Interaction</value></json:item><json:item><value>Simulation and Modeling</value></json:item></subject><isbn><json:string>978-3-642-15710-3</json:string></isbn><language><json:string>unknown</json:string></language><eissn><json:string>1611-3349</json:string></eissn><title>Medical Image Computing and Computer-Assisted Intervention – MICCAI 2010</title><genre.original><json:string>Proceedings</json:string></genre.original><bookId><json:string>978-3-642-15711-0</json:string></bookId><volume>6363</volume><pages><last>252</last><first>245</first></pages><issn><json:string>0302-9743</json:string></issn><genre><json:string>Book Series</json:string></genre><eisbn><json:string>978-3-642-15711-0</json:string></eisbn><copyrightDate>2010</copyrightDate><doi><json:string>10.1007/978-3-642-15711-0</json:string></doi></host><publicationDate>2010</publicationDate><copyrightDate>2010</copyrightDate><doi><json:string>10.1007/978-3-642-15711-0_31</json:string></doi><id>86B9AE737F73C908164B72BCDB1C42552C155569</id><score>1</score><fulltext><json:item><original>true</original><mimetype>application/pdf</mimetype><extension>pdf</extension><uri>https://api.istex.fr/document/86B9AE737F73C908164B72BCDB1C42552C155569/fulltext/pdf</uri></json:item><json:item><original>false</original><mimetype>application/zip</mimetype><extension>zip</extension><uri>https://api.istex.fr/document/86B9AE737F73C908164B72BCDB1C42552C155569/fulltext/zip</uri></json:item><istex:fulltextTEI uri="https://api.istex.fr/document/86B9AE737F73C908164B72BCDB1C42552C155569/fulltext/tei"><teiHeader><fileDesc><titleStmt><title level="a" type="main" xml:lang="en">Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope</title><respStmt xml:id="ISTEX-API" resp="Références bibliographiques récupérées via GROBID" name="ISTEX-API (INIST-CNRS)"></respStmt></titleStmt><publicationStmt><authority>ISTEX</authority><publisher>Springer Berlin Heidelberg</publisher><pubPlace>Berlin, Heidelberg</pubPlace><availability><p>SPRINGER</p></availability><date>2010</date></publicationStmt><sourceDesc><biblStruct type="inbook"><analytic><title level="a" type="main" xml:lang="en">Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope</title><author><persName><forename type="first">David</forename><surname>Noonan</surname></persName><email>dnoonan@imperial.ac.uk</email><affiliation>Department of Surgery and Cancer, Imperial College London,</affiliation><affiliation>Department of Computing, Imperial College London,</affiliation></author><author><persName><forename type="first">Christopher</forename><surname>Payne</surname></persName><email>cjp04@imperial.ac.uk</email><affiliation>Department of Computing, Imperial College London,</affiliation><affiliation>Institute of Biomedical Engineering, Imperial College London,</affiliation></author><author><persName><forename type="first">Jianzhong</forename><surname>Shang</surname></persName><email>j.shang@imperial.ac.uk</email><affiliation>Department of Computing, Imperial College London,</affiliation></author><author><persName><forename type="first">Vincent</forename><surname>Sauvage</surname></persName><email>v.sauvage@imperial.ac.uk</email><affiliation>Department of Surgery and Cancer, Imperial College London,</affiliation><affiliation>Department of Computing, Imperial College London,</affiliation></author><author><persName><forename type="first">Richard</forename><surname>Newton</surname></persName><email>r.newton@imperial.ac.uk</email><affiliation>Department of Surgery and Cancer, Imperial College London,</affiliation><affiliation>Department of Computing, Imperial College London,</affiliation></author><author><persName><forename type="first">Daniel</forename><surname>Elson</surname></persName><email>ds.elson@imperial.ac.uk</email><affiliation>Department of Surgery and Cancer, Imperial College London,</affiliation><affiliation>Department of Computing, Imperial College London,</affiliation></author><author><persName><forename type="first">Ara</forename><surname>Darzi</surname></persName><email>a.darzi@imperial.ac.uk</email><affiliation>Department of Surgery and Cancer, Imperial College London,</affiliation></author><author><persName><forename type="first">Guang-Zhong</forename><surname>Yang</surname></persName><email>g.z.yang@imperial.ac.uk</email><affiliation>Department of Computing, Imperial College London,</affiliation><affiliation>Institute of Biomedical Engineering, Imperial College London,</affiliation></author></analytic><monogr><title level="m">Medical Image Computing and Computer-Assisted Intervention – MICCAI 2010</title><title level="m" type="sub">13th International Conference, Beijing, China, September 20-24, 2010, Proceedings, Part III</title><idno type="pISBN">978-3-642-15710-3</idno><idno type="eISBN">978-3-642-15711-0</idno><idno type="pISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="DOI">10.1007/978-3-642-15711-0</idno><idno type="BookID">978-3-642-15711-0</idno><idno type="BookTitleID">213493</idno><idno type="BookSequenceNumber">6363</idno><idno type="BookVolumeNumber">6363</idno><idno type="BookChapterCount">83</idno><editor><persName><forename type="first">Tianzi</forename><surname>Jiang</surname></persName><email>jiangtz@nlpr.ia.ac.cn</email><affiliation>The Chinese Academy of Sciences,, Institute of Automation, 100080, Beijing, P.R. China</affiliation></editor><editor><persName><forename type="first">Nassir</forename><surname>Navab</surname></persName><email>navab@cs.tum.edu</email><affiliation>Institut für Informatik, Technische Universität München, 16, Boltzmannstr. 3, 85748, Garching, Germany</affiliation></editor><editor><persName><forename type="first">Josien</forename><forename type="first">P.</forename><forename type="first">W.</forename><surname>Pluim</surname></persName><email>j.pluim@umcutrecht.nl</email><affiliation>University Medical Center Utrecht,, Q0S.459, Heidelberglaan 100, 3584 CX, Utrecht, The Netherlands</affiliation></editor><editor><persName><forename type="first">Max</forename><forename type="first">A.</forename><surname>Viergever</surname></persName><email>max@isi.uu.nl</email><affiliation>IUniversity Medical Center Utrecht, Q0S.459, Heidelberglaan 100, 3584 CX, Utrecht, The Netherlands</affiliation></editor><imprint><publisher>Springer Berlin Heidelberg</publisher><pubPlace>Berlin, Heidelberg</pubPlace><date type="published" when="2010"></date><biblScope unit="volume">6363</biblScope><biblScope unit="page" from="245">245</biblScope><biblScope unit="page" to="252">252</biblScope></imprint></monogr><series><title level="s">Lecture Notes in Computer Science</title><editor><persName><forename type="first">David</forename><surname>Hutchison</surname></persName><affiliation>Lancaster University, Lancaster, UK</affiliation></editor><editor><persName><forename type="first">Takeo</forename><surname>Kanade</surname></persName><affiliation>Carnegie Mellon University, Pittsburgh, PA, USA</affiliation></editor><editor><persName><forename type="first">Josef</forename><surname>Kittler</surname></persName><affiliation>University of Surrey, Guildford, UK</affiliation></editor><editor><persName><forename type="first">Jon</forename><forename type="first">M.</forename><surname>Kleinberg</surname></persName><affiliation>Cornell University, Ithaca, NY, USA</affiliation></editor><editor><persName><forename type="first">Friedemann</forename><surname>Mattern</surname></persName><affiliation>ETH Zurich, Zurich, Switzerland</affiliation></editor><editor><persName><forename type="first">John</forename><forename type="first">C.</forename><surname>Mitchell</surname></persName><affiliation>Stanford University, Stanford, CA, USA</affiliation></editor><editor><persName><forename type="first">Moni</forename><surname>Naor</surname></persName><affiliation>Weizmann Institute of Science, Rehovot, Israel</affiliation></editor><editor><persName><forename type="first">Oscar</forename><surname>Nierstrasz</surname></persName><affiliation>University of Bern, Bern, Switzerland</affiliation></editor><editor><persName><forename type="first">C.</forename><surname>Pandu Rangan</surname></persName><affiliation>Indian Institute of Technology, Madras, India</affiliation></editor><editor><persName><forename type="first">Bernhard</forename><surname>Steffen</surname></persName><affiliation>University of Dortmund, Dortmund, Germany</affiliation></editor><editor><persName><forename type="first">Madhu</forename><surname>Sudan</surname></persName><affiliation>Massachusetts Institute of Technology, MA, USA</affiliation></editor><editor><persName><forename type="first">Demetri</forename><surname>Terzopoulos</surname></persName><affiliation>University of California, Los Angeles, CA, USA</affiliation></editor><editor><persName><forename type="first">Doug</forename><surname>Tygar</surname></persName><affiliation>University of California, Berkeley, CA, USA</affiliation></editor><editor><persName><forename type="first">Moshe</forename><forename type="first">Y.</forename><surname>Vardi</surname></persName><affiliation>Rice University, Houston, TX, USA</affiliation></editor><editor><persName><forename type="first">Gerhard</forename><surname>Weikum</surname></persName><affiliation>Max-Planck Institute of Computer Science, Saarbrücken, Germany</affiliation></editor><biblScope><date>2010</date></biblScope><idno type="pISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="seriesId">558</idno></series><idno type="istex">86B9AE737F73C908164B72BCDB1C42552C155569</idno><idno type="DOI">10.1007/978-3-642-15711-0_31</idno><idno type="ChapterID">31</idno><idno type="ChapterID">Chap31</idno></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>2010</date></creation><langUsage><language ident="en">en</language></langUsage><abstract xml:lang="en"><p>Abstract: Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.</p></abstract><textClass><keywords scheme="Book Subject Collection"><list><label>SUCO11645</label><item><term>Computer Science</term></item></list></keywords></textClass><textClass><keywords scheme="Book Subject Group"><list><label>I</label><label>I22021</label><label>I2203X</label><label>I22013</label><label>I22005</label><label>I18067</label><label>I21025</label><item><term>Computer Science</term></item><item><term>Image Processing and Computer Vision</term></item><item><term>Pattern Recognition</term></item><item><term>Computer Graphics</term></item><item><term>Computer Imaging, Vision, Pattern Recognition and Graphics</term></item><item><term>User Interfaces and Human Computer Interaction</term></item><item><term>Simulation and Modeling</term></item></list></keywords></textClass></profileDesc><revisionDesc><change when="2010">Published</change><change xml:id="refBibs-istex" who="#ISTEX-API" when="2016-3-19">References added</change></revisionDesc></teiHeader></istex:fulltextTEI><json:item><original>false</original><mimetype>text/plain</mimetype><extension>txt</extension><uri>https://api.istex.fr/document/86B9AE737F73C908164B72BCDB1C42552C155569/fulltext/txt</uri></json:item></fulltext><metadata><istex:metadataXml wicri:clean="Springer, Publisher found" wicri:toSee="no header"><istex:xmlDeclaration>version="1.0" encoding="UTF-8"</istex:xmlDeclaration><istex:docType PUBLIC="-//Springer-Verlag//DTD A++ V2.4//EN" URI="http://devel.springer.de/A++/V2.4/DTD/A++V2.4.dtd" name="istex:docType"></istex:docType><istex:document><Publisher><PublisherInfo><PublisherName>Springer Berlin Heidelberg</PublisherName><PublisherLocation>Berlin, Heidelberg</PublisherLocation></PublisherInfo><Series><SeriesInfo SeriesType="Series" TocLevels="0"><SeriesID>558</SeriesID><SeriesPrintISSN>0302-9743</SeriesPrintISSN><SeriesElectronicISSN>1611-3349</SeriesElectronicISSN><SeriesTitle Language="En">Lecture Notes in Computer Science</SeriesTitle></SeriesInfo><SeriesHeader><AuthorGroup><Author AffiliationIDS="Aff1"><AuthorName DisplayOrder="Western"><GivenName>David</GivenName><FamilyName>Hutchison</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff2"><AuthorName DisplayOrder="Western"><GivenName>Takeo</GivenName><FamilyName>Kanade</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff3"><AuthorName DisplayOrder="Western"><GivenName>Josef</GivenName><FamilyName>Kittler</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff4"><AuthorName DisplayOrder="Western"><GivenName>Jon</GivenName><GivenName>M.</GivenName><FamilyName>Kleinberg</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff5"><AuthorName DisplayOrder="Western"><GivenName>Friedemann</GivenName><FamilyName>Mattern</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff6"><AuthorName DisplayOrder="Western"><GivenName>John</GivenName><GivenName>C.</GivenName><FamilyName>Mitchell</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff7"><AuthorName DisplayOrder="Western"><GivenName>Moni</GivenName><FamilyName>Naor</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff8"><AuthorName DisplayOrder="Western"><GivenName>Oscar</GivenName><FamilyName>Nierstrasz</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff9"><AuthorName DisplayOrder="Western"><GivenName>C.</GivenName><FamilyName>Pandu Rangan</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff10"><AuthorName DisplayOrder="Western"><GivenName>Bernhard</GivenName><FamilyName>Steffen</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff11"><AuthorName DisplayOrder="Western"><GivenName>Madhu</GivenName><FamilyName>Sudan</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff12"><AuthorName DisplayOrder="Western"><GivenName>Demetri</GivenName><FamilyName>Terzopoulos</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff13"><AuthorName DisplayOrder="Western"><GivenName>Doug</GivenName><FamilyName>Tygar</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff14"><AuthorName DisplayOrder="Western"><GivenName>Moshe</GivenName><GivenName>Y.</GivenName><FamilyName>Vardi</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff15"><AuthorName DisplayOrder="Western"><GivenName>Gerhard</GivenName><FamilyName>Weikum</FamilyName></AuthorName></Author><Affiliation ID="Aff1"><OrgName>Lancaster University</OrgName><OrgAddress><City>Lancaster</City><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff2"><OrgName>Carnegie Mellon University</OrgName><OrgAddress><City>Pittsburgh</City><State>PA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff3"><OrgName>University of Surrey</OrgName><OrgAddress><City>Guildford</City><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff4"><OrgName>Cornell University</OrgName><OrgAddress><City>Ithaca</City><State>NY</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff5"><OrgName>ETH Zurich</OrgName><OrgAddress><City>Zurich</City><Country>Switzerland</Country></OrgAddress></Affiliation><Affiliation ID="Aff6"><OrgName>Stanford University</OrgName><OrgAddress><City>Stanford</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff7"><OrgName>Weizmann Institute of Science</OrgName><OrgAddress><City>Rehovot</City><Country>Israel</Country></OrgAddress></Affiliation><Affiliation ID="Aff8"><OrgName>University of Bern</OrgName><OrgAddress><City>Bern</City><Country>Switzerland</Country></OrgAddress></Affiliation><Affiliation ID="Aff9"><OrgName>Indian Institute of Technology</OrgName><OrgAddress><City>Madras</City><Country>India</Country></OrgAddress></Affiliation><Affiliation ID="Aff10"><OrgName>University of Dortmund</OrgName><OrgAddress><City>Dortmund</City><Country>Germany</Country></OrgAddress></Affiliation><Affiliation ID="Aff11"><OrgName>Massachusetts Institute of Technology</OrgName><OrgAddress><State>MA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff12"><OrgName>University of California</OrgName><OrgAddress><City>Los Angeles</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff13"><OrgName>University of California</OrgName><OrgAddress><City>Berkeley</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff14"><OrgName>Rice University</OrgName><OrgAddress><City>Houston</City><State>TX</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff15"><OrgName>Max-Planck Institute of Computer Science</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation></AuthorGroup></SeriesHeader><Book Language="En"><BookInfo BookProductType="Proceedings" ContainsESM="No" Language="En" MediaType="eBook" NumberingDepth="2" NumberingStyle="ContentOnly" OutputMedium="All" TocLevels="0"><BookID>978-3-642-15711-0</BookID><BookTitle>Medical Image Computing and Computer-Assisted Intervention – MICCAI 2010</BookTitle><BookSubTitle>13th International Conference, Beijing, China, September 20-24, 2010, Proceedings, Part III</BookSubTitle><BookVolumeNumber>6363</BookVolumeNumber><BookSequenceNumber>6363</BookSequenceNumber><BookDOI>10.1007/978-3-642-15711-0</BookDOI><BookTitleID>213493</BookTitleID><BookPrintISBN>978-3-642-15710-3</BookPrintISBN><BookElectronicISBN>978-3-642-15711-0</BookElectronicISBN><BookChapterCount>83</BookChapterCount><BookCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2010</CopyrightYear></BookCopyright><BookSubjectGroup><BookSubject Code="I" Type="Primary">Computer Science</BookSubject><BookSubject Code="I22021" Priority="1" Type="Secondary">Image Processing and Computer Vision</BookSubject><BookSubject Code="I2203X" Priority="2" Type="Secondary">Pattern Recognition</BookSubject><BookSubject Code="I22013" Priority="3" Type="Secondary">Computer Graphics</BookSubject><BookSubject Code="I22005" Priority="4" Type="Secondary">Computer Imaging, Vision, Pattern Recognition and Graphics</BookSubject><BookSubject Code="I18067" Priority="5" Type="Secondary">User Interfaces and Human Computer Interaction</BookSubject><BookSubject Code="I21025" Priority="6" Type="Secondary">Simulation and Modeling</BookSubject><SubjectCollection Code="SUCO11645">Computer Science</SubjectCollection></BookSubjectGroup><BookContext><SeriesID>558</SeriesID></BookContext></BookInfo><BookHeader><EditorGroup><Editor AffiliationIDS="Aff16"><EditorName DisplayOrder="Western"><GivenName>Tianzi</GivenName><FamilyName>Jiang</FamilyName></EditorName><Contact><Email>jiangtz@nlpr.ia.ac.cn</Email></Contact></Editor><Editor AffiliationIDS="Aff17"><EditorName DisplayOrder="Western"><GivenName>Nassir</GivenName><FamilyName>Navab</FamilyName></EditorName><Contact><Email>navab@cs.tum.edu</Email></Contact></Editor><Editor AffiliationIDS="Aff18"><EditorName DisplayOrder="Western"><GivenName>Josien</GivenName><GivenName>P.</GivenName><GivenName>W.</GivenName><FamilyName>Pluim</FamilyName></EditorName><Contact><Email>j.pluim@umcutrecht.nl</Email></Contact></Editor><Editor AffiliationIDS="Aff19"><EditorName DisplayOrder="Western"><GivenName>Max</GivenName><GivenName>A.</GivenName><FamilyName>Viergever</FamilyName></EditorName><Contact><Email>max@isi.uu.nl</Email></Contact></Editor><Affiliation ID="Aff16"><OrgDivision>The Chinese Academy of Sciences,</OrgDivision><OrgName>Institute of Automation</OrgName><OrgAddress><Postcode>100080</Postcode><City>Beijing</City><Country>P.R. China</Country></OrgAddress></Affiliation><Affiliation ID="Aff17"><OrgDivision>Institut für Informatik</OrgDivision><OrgName>Technische Universität München</OrgName><OrgAddress><Street>16, Boltzmannstr. 3</Street><Postcode>85748</Postcode><City>Garching</City><Country>Germany</Country></OrgAddress></Affiliation><Affiliation ID="Aff18"><OrgName>University Medical Center Utrecht,</OrgName><OrgAddress><Street>Q0S.459, Heidelberglaan 100</Street><Postcode>3584 CX</Postcode><City>Utrecht</City><Country>The Netherlands</Country></OrgAddress></Affiliation><Affiliation ID="Aff19"><OrgName>IUniversity Medical Center Utrecht</OrgName><OrgAddress><Street>Q0S.459, Heidelberglaan 100</Street><Postcode>3584 CX</Postcode><City>Utrecht</City><Country>The Netherlands</Country></OrgAddress></Affiliation></EditorGroup></BookHeader><Part ID="Part2"><PartInfo TocLevels="0"><PartID>2</PartID><PartSequenceNumber>2</PartSequenceNumber><PartTitle>Robotics, Motion Modeling and Computer-Assisted Interventions</PartTitle><PartChapterCount>34</PartChapterCount><PartContext><SeriesID>558</SeriesID><BookTitle>Medical Image Computing and Computer-Assisted Intervention – MICCAI 2010</BookTitle></PartContext></PartInfo><Chapter ID="Chap31" Language="En"><ChapterInfo ChapterType="OriginalPaper" ContainsESM="No" NumberingDepth="2" NumberingStyle="ContentOnly" TocLevels="0"><ChapterID>31</ChapterID><ChapterDOI>10.1007/978-3-642-15711-0_31</ChapterDOI><ChapterSequenceNumber>31</ChapterSequenceNumber><ChapterTitle Language="En">Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope </ChapterTitle><ChapterFirstPage>245</ChapterFirstPage><ChapterLastPage>252</ChapterLastPage><ChapterCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2010</CopyrightYear></ChapterCopyright><ChapterGrants Type="Regular"><MetadataGrant Grant="OpenAccess"></MetadataGrant><AbstractGrant Grant="OpenAccess"></AbstractGrant><BodyPDFGrant Grant="Restricted"></BodyPDFGrant><BodyHTMLGrant Grant="Restricted"></BodyHTMLGrant><BibliographyGrant Grant="Restricted"></BibliographyGrant><ESMGrant Grant="Restricted"></ESMGrant></ChapterGrants><ChapterContext><SeriesID>558</SeriesID><PartID>2</PartID><BookID>978-3-642-15711-0</BookID><BookTitle>Medical Image Computing and Computer-Assisted Intervention – MICCAI 2010</BookTitle></ChapterContext></ChapterInfo><ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff20 Aff21"><AuthorName DisplayOrder="Western"><GivenName>David</GivenName><GivenName>P.</GivenName><FamilyName>Noonan</FamilyName></AuthorName><Contact><Email>dnoonan@imperial.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff21 Aff22"><AuthorName DisplayOrder="Western"><GivenName>Christopher</GivenName><GivenName>J.</GivenName><FamilyName>Payne</FamilyName></AuthorName><Contact><Email>cjp04@imperial.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff21"><AuthorName DisplayOrder="Western"><GivenName>Jianzhong</GivenName><FamilyName>Shang</FamilyName></AuthorName><Contact><Email>j.shang@imperial.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff20 Aff21"><AuthorName DisplayOrder="Western"><GivenName>Vincent</GivenName><FamilyName>Sauvage</FamilyName></AuthorName><Contact><Email>v.sauvage@imperial.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff20 Aff21"><AuthorName DisplayOrder="Western"><GivenName>Richard</GivenName><FamilyName>Newton</FamilyName></AuthorName><Contact><Email>r.newton@imperial.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff20 Aff21"><AuthorName DisplayOrder="Western"><GivenName>Daniel</GivenName><FamilyName>Elson</FamilyName></AuthorName><Contact><Email>ds.elson@imperial.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff20"><AuthorName DisplayOrder="Western"><GivenName>Ara</GivenName><FamilyName>Darzi</FamilyName></AuthorName><Contact><Email>a.darzi@imperial.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff21 Aff22"><AuthorName DisplayOrder="Western"><GivenName>Guang-Zhong</GivenName><FamilyName>Yang</FamilyName></AuthorName><Contact><Email>g.z.yang@imperial.ac.uk</Email></Contact></Author><Affiliation ID="Aff20"><OrgDivision>Department of Surgery and Cancer</OrgDivision><OrgName>Imperial College London</OrgName><OrgAddress><Country> </Country></OrgAddress></Affiliation><Affiliation ID="Aff21"><OrgDivision>Department of Computing</OrgDivision><OrgName>Imperial College London</OrgName><OrgAddress><Country> </Country></OrgAddress></Affiliation><Affiliation ID="Aff22"><OrgDivision>Institute of Biomedical Engineering</OrgDivision><OrgName>Imperial College London</OrgName><OrgAddress><Country> </Country></OrgAddress></Affiliation></AuthorGroup><Abstract ID="Abs1" Language="En"><Heading>Abstract</Heading><Para>Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.</Para></Abstract></ChapterHeader><NoBody></NoBody></Chapter></Part></Book></Series></Publisher></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope</title></titleInfo><name type="personal"><namePart type="given">David</namePart><namePart type="given">P.</namePart><namePart type="family">Noonan</namePart><affiliation>Department of Surgery and Cancer, Imperial College London</affiliation><affiliation>Department of Computing, Imperial College London</affiliation><affiliation>E-mail: dnoonan@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Christopher</namePart><namePart type="given">J.</namePart><namePart type="family">Payne</namePart><affiliation>Department of Computing, Imperial College London</affiliation><affiliation>Institute of Biomedical Engineering, Imperial College London</affiliation><affiliation>E-mail: cjp04@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Jianzhong</namePart><namePart type="family">Shang</namePart><affiliation>Department of Computing, Imperial College London</affiliation><affiliation>E-mail: j.shang@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Vincent</namePart><namePart type="family">Sauvage</namePart><affiliation>Department of Surgery and Cancer, Imperial College London</affiliation><affiliation>Department of Computing, Imperial College London</affiliation><affiliation>E-mail: v.sauvage@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Richard</namePart><namePart type="family">Newton</namePart><affiliation>Department of Surgery and Cancer, Imperial College London</affiliation><affiliation>Department of Computing, Imperial College London</affiliation><affiliation>E-mail: r.newton@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Daniel</namePart><namePart type="family">Elson</namePart><affiliation>Department of Surgery and Cancer, Imperial College London</affiliation><affiliation>Department of Computing, Imperial College London</affiliation><affiliation>E-mail: ds.elson@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Ara</namePart><namePart type="family">Darzi</namePart><affiliation>Department of Surgery and Cancer, Imperial College London</affiliation><affiliation>E-mail: a.darzi@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Guang-Zhong</namePart><namePart type="family">Yang</namePart><affiliation>Department of Computing, Imperial College London</affiliation><affiliation>Institute of Biomedical Engineering, Imperial College London</affiliation><affiliation>E-mail: g.z.yang@imperial.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="conference [eBooks]" displayLabel="OriginalPaper"></genre><originInfo><publisher>Springer Berlin Heidelberg</publisher><place><placeTerm type="text">Berlin, Heidelberg</placeTerm></place><dateIssued encoding="w3cdtf">2010</dateIssued><copyrightDate encoding="w3cdtf">2010</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType></physicalDescription><abstract lang="en">Abstract: Recent developments in optical spectroscopic techniques have permitted in vivo, in situ cellular and molecular sensing and imaging to allow for real-time tissue characterization, functional assessment, and intraoperative guidance. The small area sensed by these probes, however, presents unique challenges when attempting to obtain useful tissue information in-vivo due to the need to maintain constant distance or contact with the target, and tissue deformation. In practice, the effective area can be increased by translating the tip of the probe over the tissue surface and generating functional maps of the underlying tissue response. However, achieving such controlled motions under manual guidance is very difficult, particularly since the probe is typically passed down the instrument channel of a flexible endoscope. This paper describes a force adaptive multi-spectral imaging system integrated with an articulated robotic endoscope that allows a constant contact force to be maintained between the probe and the tissue as the robot tip is actuated across complex tissue profiles. Detailed phantom and ex-vivo tissue validation is provided.</abstract><relatedItem type="host"><titleInfo><title>Medical Image Computing and Computer-Assisted Intervention – MICCAI 2010</title><subTitle>13th International Conference, Beijing, China, September 20-24, 2010, Proceedings, Part III</subTitle></titleInfo><name type="personal"><namePart type="given">Tianzi</namePart><namePart type="family">Jiang</namePart><affiliation>The Chinese Academy of Sciences,, Institute of Automation, 100080, Beijing, P.R. China</affiliation><affiliation>E-mail: jiangtz@nlpr.ia.ac.cn</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Nassir</namePart><namePart type="family">Navab</namePart><affiliation>Institut für Informatik, Technische Universität München, 16, Boltzmannstr. 3, 85748, Garching, Germany</affiliation><affiliation>E-mail: navab@cs.tum.edu</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Josien</namePart><namePart type="given">P.</namePart><namePart type="given">W.</namePart><namePart type="family">Pluim</namePart><affiliation>University Medical Center Utrecht,, Q0S.459, Heidelberglaan 100, 3584 CX, Utrecht, The Netherlands</affiliation><affiliation>E-mail: j.pluim@umcutrecht.nl</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Max</namePart><namePart type="given">A.</namePart><namePart type="family">Viergever</namePart><affiliation>IUniversity Medical Center Utrecht, Q0S.459, Heidelberglaan 100, 3584 CX, Utrecht, The Netherlands</affiliation><affiliation>E-mail: max@isi.uu.nl</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><genre type="Book Series" displayLabel="Proceedings"></genre><originInfo><copyrightDate encoding="w3cdtf">2010</copyrightDate><issuance>monographic</issuance></originInfo><subject><genre>Book Subject Collection</genre><topic authority="SpringerSubjectCodes" authorityURI="SUCO11645">Computer Science</topic></subject><subject><genre>Book Subject Group</genre><topic authority="SpringerSubjectCodes" authorityURI="I">Computer Science</topic><topic authority="SpringerSubjectCodes" authorityURI="I22021">Image Processing and Computer Vision</topic><topic authority="SpringerSubjectCodes" authorityURI="I2203X">Pattern Recognition</topic><topic authority="SpringerSubjectCodes" authorityURI="I22013">Computer Graphics</topic><topic authority="SpringerSubjectCodes" authorityURI="I22005">Computer Imaging, Vision, Pattern Recognition and Graphics</topic><topic authority="SpringerSubjectCodes" authorityURI="I18067">User Interfaces and Human Computer Interaction</topic><topic authority="SpringerSubjectCodes" authorityURI="I21025">Simulation and Modeling</topic></subject><identifier type="DOI">10.1007/978-3-642-15711-0</identifier><identifier type="ISBN">978-3-642-15710-3</identifier><identifier type="eISBN">978-3-642-15711-0</identifier><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="BookTitleID">213493</identifier><identifier type="BookID">978-3-642-15711-0</identifier><identifier type="BookChapterCount">83</identifier><identifier type="BookVolumeNumber">6363</identifier><identifier type="BookSequenceNumber">6363</identifier><identifier type="PartChapterCount">34</identifier><part><date>2010</date><detail type="part"><title>Robotics, Motion Modeling and Computer-Assisted Interventions</title></detail><detail type="volume"><number>6363</number><caption>vol.</caption></detail><extent unit="pages"><start>245</start><end>252</end></extent></part><recordInfo><recordOrigin>Springer-Verlag Berlin Heidelberg, 2010</recordOrigin></recordInfo></relatedItem><relatedItem type="series"><titleInfo><title>Lecture Notes in Computer Science</title></titleInfo><name type="personal"><namePart type="given">David</namePart><namePart type="family">Hutchison</namePart><affiliation>Lancaster University, Lancaster, UK</affiliation></name><name type="personal"><namePart type="given">Takeo</namePart><namePart type="family">Kanade</namePart><affiliation>Carnegie Mellon University, Pittsburgh, PA, USA</affiliation></name><name type="personal"><namePart type="given">Josef</namePart><namePart type="family">Kittler</namePart><affiliation>University of Surrey, Guildford, UK</affiliation></name><name type="personal"><namePart type="given">Jon</namePart><namePart type="given">M.</namePart><namePart type="family">Kleinberg</namePart><affiliation>Cornell University, Ithaca, NY, USA</affiliation></name><name type="personal"><namePart type="given">Friedemann</namePart><namePart type="family">Mattern</namePart><affiliation>ETH Zurich, Zurich, Switzerland</affiliation></name><name type="personal"><namePart type="given">John</namePart><namePart type="given">C.</namePart><namePart type="family">Mitchell</namePart><affiliation>Stanford University, Stanford, CA, USA</affiliation></name><name type="personal"><namePart type="given">Moni</namePart><namePart type="family">Naor</namePart><affiliation>Weizmann Institute of Science, Rehovot, Israel</affiliation></name><name type="personal"><namePart type="given">Oscar</namePart><namePart type="family">Nierstrasz</namePart><affiliation>University of Bern, Bern, Switzerland</affiliation></name><name type="personal"><namePart type="given">C.</namePart><namePart type="family">Pandu Rangan</namePart><affiliation>Indian Institute of Technology, Madras, India</affiliation></name><name type="personal"><namePart type="given">Bernhard</namePart><namePart type="family">Steffen</namePart><affiliation>University of Dortmund, Dortmund, Germany</affiliation></name><name type="personal"><namePart type="given">Madhu</namePart><namePart type="family">Sudan</namePart><affiliation>Massachusetts Institute of Technology, MA, USA</affiliation></name><name type="personal"><namePart type="given">Demetri</namePart><namePart type="family">Terzopoulos</namePart><affiliation>University of California, Los Angeles, CA, USA</affiliation></name><name type="personal"><namePart type="given">Doug</namePart><namePart type="family">Tygar</namePart><affiliation>University of California, Berkeley, CA, USA</affiliation></name><name type="personal"><namePart type="given">Moshe</namePart><namePart type="given">Y.</namePart><namePart type="family">Vardi</namePart><affiliation>Rice University, Houston, TX, USA</affiliation></name><name type="personal"><namePart type="given">Gerhard</namePart><namePart type="family">Weikum</namePart><affiliation>Max-Planck Institute of Computer Science, Saarbrücken, Germany</affiliation></name><originInfo><copyrightDate encoding="w3cdtf">2010</copyrightDate><issuance>serial</issuance></originInfo><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="SeriesID">558</identifier><recordInfo><recordOrigin>Springer-Verlag Berlin Heidelberg, 2010</recordOrigin></recordInfo></relatedItem><identifier type="istex">86B9AE737F73C908164B72BCDB1C42552C155569</identifier><identifier type="DOI">10.1007/978-3-642-15711-0_31</identifier><identifier type="ChapterID">31</identifier><identifier type="ChapterID">Chap31</identifier><accessCondition type="use and reproduction" contentType="copyright">Springer-Verlag Berlin Heidelberg, 2010</accessCondition><recordInfo><recordContentSource>SPRINGER</recordContentSource><recordOrigin>Springer-Verlag Berlin Heidelberg, 2010</recordOrigin></recordInfo></mods></metadata><enrichments><istex:refBibTEI uri="https://api.istex.fr/document/86B9AE737F73C908164B72BCDB1C42552C155569/enrichments/refBib"><teiHeader></teiHeader><text><front></front><body></body><back><listBibl><biblStruct xml:id="b0"><analytic><title level="a" type="main">Diagnosis of chronic mesenteric ischemia by visible light spectroscopy during endoscopy</title><author><persName><forename type="first">S</forename><surname>Friedland</surname></persName></author><author><persName><forename type="first">D</forename><surname>Benaron</surname></persName></author><author><persName><forename type="first">S</forename><surname>Coogan</surname></persName></author><author><persName><forename type="first">D</forename><forename type="middle">Y</forename><surname>Sze</surname></persName></author><author><persName><forename type="first">R</forename><surname>Soetikno</surname></persName></author></analytic><monogr><title level="j">Gastrointestinal Endoscopy</title><imprint><biblScope unit="volume">65</biblScope><biblScope unit="page" from="294" to="300"></biblScope><date type="published" when="2007"></date></imprint></monogr></biblStruct><biblStruct xml:id="b1"><analytic><title level="a" type="main">Characterization of Raman spectra measured in vivo for the detection of cervical dysplasia</title><author><persName><forename type="first">A</forename><surname>Robichaux-Viehoever</surname></persName></author><author><persName><forename type="first">E</forename><surname>Kanter</surname></persName></author><author><persName><forename type="first">H</forename><surname>Shappell</surname></persName></author><author><persName><forename type="first">D</forename><surname>Billheimer</surname></persName></author><author><persName><forename type="first">H</forename><surname>Jones</surname></persName></author><author><persName><forename type="first">A</forename><surname>Mahadevan-Jansen</surname></persName></author></analytic><monogr><title level="j">Applied Spectroscopy</title><imprint><biblScope unit="volume">61</biblScope><biblScope unit="page" from="986" to="993"></biblScope><date type="published" when="2007"></date></imprint></monogr></biblStruct><biblStruct xml:id="b2"><analytic><title level="a" type="main">Laguerre-based method for analysis of timeresolved fluorescence data: application to in-vivo characterization and diagnosis of atherosclerotic lesions</title><author><persName><forename type="first">J</forename><forename type="middle">A</forename><surname>Jo</surname></persName></author><author><persName><forename type="first">Q</forename><surname>Fang</surname></persName></author><author><persName><forename type="first">T</forename><surname>Papaioannou</surname></persName></author><author><persName><forename type="first">J</forename><forename type="middle">D</forename><surname>Baker</surname></persName></author><author><persName><forename type="first">A</forename><forename type="middle">H</forename><surname>Dorafshar</surname></persName></author><author><persName><forename type="first">T</forename><surname>Reil</surname></persName></author><author><persName><forename type="first">J</forename><forename type="middle">H</forename><surname>Qiao</surname></persName></author><author><persName><forename type="first">M</forename><forename type="middle">C</forename><surname>Fishbein</surname></persName></author><author><persName><forename type="first">J</forename><forename type="middle">A</forename><surname>Freischlag</surname></persName></author><author><persName><forename type="first">L</forename><surname>Marcu</surname></persName></author></analytic><monogr><title level="j">Journal of Biomedical Optics</title><imprint><biblScope unit="volume">11</biblScope><date type="published" when="2006"></date></imprint></monogr></biblStruct><biblStruct xml:id="b3"><analytic><title level="a" type="main">Laser Induced Fluorescence and Reflected White Light Imaging for Robot-Assisted Minimally Invasive Surgery</title><author><persName><forename type="first">D</forename><forename type="middle">P</forename><surname>Noonan</surname></persName></author><author><persName><forename type="first">D</forename><surname>Elson</surname></persName></author><author><persName><forename type="first">G</forename><surname>Mylonas</surname></persName></author><author><persName><forename type="first">A</forename><surname>Darzi</surname></persName></author><author><persName><forename type="first">G.-Z</forename><surname>Yang</surname></persName></author></analytic><monogr><title level="j">IEEE Transactions on Biomedical Engineering</title><imprint><biblScope unit="volume">56</biblScope><biblScope unit="page" from="889" to="892"></biblScope><date type="published" when="2009"></date></imprint></monogr></biblStruct><biblStruct xml:id="b4"><analytic><title level="a" type="main">Effects of probe contact pressure on in vivo optical spectroscopy</title><author><persName><forename type="first">Y</forename><surname>Ti</surname></persName></author><author><persName><forename type="first">W.-C</forename><surname>Lin</surname></persName></author></analytic><monogr><title level="j">Optics Express</title><imprint><biblScope unit="volume">16</biblScope><biblScope unit="page" from="4250" to="4262"></biblScope><date type="published" when="2008"></date></imprint></monogr></biblStruct><biblStruct xml:id="b5"><analytic><title level="a" type="main">Measuring In Vivo Animal Soft Tissue Properties for Haptic Modeling in Surgical Simulation</title><author><persName><forename type="first">I</forename><surname>Brouwer</surname></persName></author><author><persName><forename type="first">J</forename><surname>Ustin</surname></persName></author><author><persName><forename type="first">L</forename><surname>Bentley</surname></persName></author><author><persName><forename type="first">A</forename><surname>Sherman</surname></persName></author><author><persName><forename type="first">N</forename><surname>Dhruv</surname></persName></author><author><persName><forename type="first">F</forename><surname>Tendick</surname></persName></author></analytic><monogr><title level="m">Medicine Meets Virtual Reality</title><imprint><date type="published" when="2001"></date><biblScope unit="page" from="69" to="74"></biblScope></imprint></monogr></biblStruct><biblStruct xml:id="b6"><analytic><title level="a" type="main">The Role of Feedback in Surgery: Analysis of Blunt Dissection</title><author><persName><forename type="first">C</forename><forename type="middle">R</forename><surname>Wagner</surname></persName></author><author><persName><forename type="first">N</forename><surname>Stylopoulos</surname></persName></author><author><persName><forename type="first">R</forename><forename type="middle">D</forename><surname>Howe</surname></persName></author></analytic><monogr><title level="m">10th Symp. on Haptic Interfaces For Virtual Envir. & Teleoperator Systs</title><imprint><date type="published" when="2002"></date><biblScope unit="page" from="68" to="74"></biblScope></imprint></monogr></biblStruct><biblStruct xml:id="b7"><analytic><title level="a" type="main">Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles</title><author><persName><forename type="first">S</forename><surname>Misra</surname></persName></author><author><persName><forename type="first">K</forename><forename type="middle">B</forename><surname>Reed</surname></persName></author><author><persName><forename type="first">A</forename><forename type="middle">S</forename><surname>Douglas</surname></persName></author><author><persName><forename type="first">K</forename><forename type="middle">T</forename><surname>Ramesh</surname></persName></author><author><persName><forename type="first">A</forename><forename type="middle">M</forename><surname>Okamura</surname></persName></author></analytic><monogr><title level="m">IEEE International Conference on Biomedical Robotics and Biomechatronics</title><imprint><date type="published" when="2008"></date><biblScope unit="page" from="224" to="231"></biblScope></imprint></monogr></biblStruct></listBibl></back></text></istex:refBibTEI></enrichments></istex></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Istex/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 002809 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Istex/Corpus/biblio.hfd -nk 002809 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Istex
|étape= Corpus
|type= RBID
|clé= ISTEX:86B9AE737F73C908164B72BCDB1C42552C155569
|texte= Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope
}}
| This area was generated with Dilib version V0.6.23. |  |