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Modular Robotic Scanning Device for Real-Time Gastric Endomicroscopy

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Abstract

Optical biopsy methods, such as probe-based endomicroscopy, can be used for the identification of early mucosal dysplasia in various gastrointestinal conditions and have potential applications in the screening of early-stage gastric cancer in vivo. However, it is difficult to scan a large area of the gastric mucosa for mosaicing during standard endoscopy. This paper proposes a novel ‘snap-on’ robotic scanning device that can integrate distally with a commercial endoscope. A customized low-cost endomicroscopy system is used for obtaining micro imaging. The developed device could scan a large area of gastric tissue during standard endoscopy. The device achieves positioning accuracy that is less than 0.23 mm. Experimental results showed that the device could achieve large area mosaicing (15.8–18.6 mm2) and demonstrated the potential clinical value of the device for real-time gastric tissue identification and margin assessment. This approach presents an important alternative to current histology techniques for gastrointestinal tract diagnosis.

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Acknowledgments

This work was supported by National Natural Science Foundation of China under Grant No. 61773280, Key Technologies Research and Development Program of China under Grant No. 2017YFC0110401, Tianjin Municipal Science and Technology Department Program under Grant No. 16JCYBJC40700, and Engineering and Physical Sciences Research Council, Grant No. EP/P027938/1.

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Authors and Affiliations

  1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China

    Zhongyuan Ping, Haibo Wang, Shuxin Wang & Siyang Zuo

  2. Department of Gastroenterology and Hepatology, Tianjin Medical University General Hospital, Tianjin, 300070, China

    Xin Chen

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  1. Zhongyuan Ping
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  2. Haibo Wang
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  3. Xin Chen
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  4. Shuxin Wang
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  5. Siyang Zuo
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Correspondence to Siyang Zuo.

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Associate Editor Ka-Wai Kwok oversaw the review of this article.

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Ping, Z., Wang, H., Chen, X. et al. Modular Robotic Scanning Device for Real-Time Gastric Endomicroscopy. Ann Biomed Eng 47, 563–575 (2019). https://doi.org/10.1007/s10439-018-02156-2

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  • DOI: https://doi.org/10.1007/s10439-018-02156-2

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