Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy

Benoît Rosa (1, 2) , Benoît Herman (3) , Jérome Szewczyk (4, 1) , Brice Gayet (5) , Guillaume Morel (6)

1 AGATHE - Assistance aux Gestes et Applications THErapeutiques
2 ISIR - Institut des Systèmes Intelligents et Robotique
3 UCL - Université Catholique de Louvain = Catholic University of Louvain
4 ISIR - Institut des Systèmes Intelligents et de Robotique
5 Departement medico-chirurgical de pathologie digestive
6 LRP - Laboratoire de Robotique de Paris

— Probe-based confocal laser endomicroscopy is a promising technology for performing minimally-invasive optical biopsies. With the help of mosaicing algorithms, several studies reported successful results in endoluminal surgery. In this paper, we present a prototype for making robotized optical biopsies on a variety of organs inside the abdominal cavity. We chose a macro-micro association, with a macropositioner, a micropositioner and a passive mechanical compensation of physiological motion. The probe is actuated by three hydraulic micro-balloons and can be moved on the surface of an organ to generate a mosaic. This paper presents the design and experimental results of a first in vivo trial on a porcine model.

Domaines: Robotique [cs.RO]; Automatique / Robotique

Benoît Rosa, Benoît Herman, Jérome Szewczyk, Brice Gayet, Guillaume Morel. Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Sep 2011, San Francisco, United States. ⟨10.1109/IROS.2011.6094513⟩. ⟨hal-01765044⟩