Autonomous OCT volumetric scanning with robotic endoscope

Guiqiu Liao; Fernando Gonzalez Herrera; Zhongkai Zhang; Ameya Pore; Luca Sestini; Sujit Kumar Sahu; Oscar Caravaca-Mora; Philippe Zanne; Benoit Rosa; Diego Dall’Alba; Paolo Fiorini; Michel de Mathelin; Florent Nageotte; Michalina J. Gora

doi:10.1117/12.2633884

24 May 2022 Autonomous OCT volumetric scanning with robotic endoscope

Guiqiu Liao, Fernando Gonzalez Herrera, Zhongkai Zhang, Ameya Pore, Luca Sestini, Sujit Kumar Sahu, Oscar Caravaca-Mora, Philippe Zanne, Benoit Rosa, Diego Dall’Alba, Paolo Fiorini, Michel de Mathelin, Florent Nageotte, Michalina J. Gora

Author Affiliations +

Proceedings Volume PC12146, Clinical Biophotonics II; PC1214602 (2022) https://doi.org/10.1117/12.2633884
Event: SPIE Photonics Europe, 2022, Strasbourg, France

Abstract

Optical Coherence Tomography (OCT) has the ability to acquire cross-sectional images under tissue surfaces in real-time, which can provide real-time tissue characterization. One of the possible applications is improving the accuracy of white-light based diagnosis in the digestive system. In this work, we integrate OCT with a robotic surgical endoscope, using OCT local scanning to form complementary information of the white light endoscopic camera. Meanwhile, the white light camera can help to roughly guide the OCT probe to the potential pathological area. To accelerate the local scanning, we explore different volumetric scanning strategies to find a good trade-off between efficiency and 3D recovering quality. Based on stabilization and segmentation of the OCT images using deep learning techniques navigation information is extracted for autonomous control, as well as tactile information. The proposed method allows an increase of field of view (FoV) for OCT imaging in large lumen under dynamic displacement caused by tissue motion.

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Guiqiu Liao, Fernando Gonzalez Herrera, Zhongkai Zhang, Ameya Pore, Luca Sestini, Sujit Kumar Sahu, Oscar Caravaca-Mora, Philippe Zanne, Benoit Rosa, Diego Dall’Alba, Paolo Fiorini, Michel de Mathelin, Florent Nageotte, and Michalina J. Gora "Autonomous OCT volumetric scanning with robotic endoscope", Proc. SPIE PC12146, Clinical Biophotonics II, PC1214602 (24 May 2022); https://doi.org/10.1117/12.2633884

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KEYWORDS

Optical coherence tomography

Robotics

Tissues

Endoscopes

3D image processing

Algorithm development

Negative feedback

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