Robotic Control of a Multi-Modal Rigid Endoscope Combining Optical Imaging with All-Optical Ultrasound
George Dwyer, Richard J Colchester, Erwin J Alles, Efthymios Maneas, Sebastien Ourselin, Tom Vercauteren, Jan Deprest, Emmanuel Vander Poorten
Abstract
Fetoscopy is a technically challenging surgery, due to the dynamic environment and low diameter endoscopes often resulting in a limited field of view. In this paper, we report on the design and operation of a robotic multimodal endoscope with optical ultrasound and white light stereo camera. The manufacture and control of the endoscope is presented, along with large area (80 mm ×80 mm) surface visualisations of a placenta phantom using the optical ultrasound sensor. The repeatability of the surface visualisations was found to be 0. 446 ± 0.139 mm and 0. 267 ± 0.017 mm for a raster and spiral scan, respectively.
BibTeX
@inproceedings{icra2019_roboticcontrolof,
title = {Robotic Control of a Multi-Modal Rigid Endoscope Combining Optical Imaging with All-Optical Ultrasound},
author = {George Dwyer and Richard J Colchester and Erwin J Alles and Efthymios Maneas and Sebastien Ourselin and Tom Vercauteren and Jan Deprest and Emmanuel Vander Poorten and Paolo De Coppi and Adrien E Desjardins and Danail Stoyanov},
booktitle = {ICRA 2019},
year = {2019}
}