Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope
Identifieur interne : 002809 ( Istex/Curation ); précédent : 002808; suivant : 002810Force Adaptive Multi-spectral Imaging with an Articulated Robotic Endoscope
Auteurs : P. Noonan [Royaume-Uni] ; J. Payne [Royaume-Uni] ; Jianzhong Shang [Royaume-Uni] ; Vincent Sauvage [Royaume-Uni] ; Richard Newton [Royaume-Uni] ; Daniel Elson [Royaume-Uni] ; Ara Darzi [Royaume-Uni] ; Guang-Zhong Yang [Royaume-Uni]Source :
- 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.
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DOI: 10.1007/978-3-642-15711-0_31
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P. Noonan<affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: dnoonan@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: dnoonan@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: cjp04@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: cjp04@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: j.shang@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: v.sauvage@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: v.sauvage@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: r.newton@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: r.newton@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: ds.elson@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: ds.elson@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Surgery and Cancer, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: a.darzi@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: g.z.yang@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: g.z.yang@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></affiliation>Le 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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: dnoonan@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: cjp04@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: j.shang@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: v.sauvage@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: r.newton@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: ds.elson@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: a.darzi@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: g.z.yang@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><idno type="wicri:Area/Istex/Curation">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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: dnoonan@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: cjp04@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: j.shang@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: v.sauvage@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: r.newton@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Computing, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: ds.elson@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: a.darzi@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation><mods:affiliation>Institute of Biomedical Engineering, Imperial College London</mods:affiliation><wicri:noCountry code="subField">Imperial College London</wicri:noCountry></affiliation><affiliation wicri:level="1"><mods:affiliation>E-mail: g.z.yang@imperial.ac.uk</mods:affiliation><country wicri:rule="url">Royaume-Uni</country></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></record>Pour manipuler ce document sous Unix (Dilib)
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