Dwyer, G;
Colchester, RJ;
Alles, EJ;
Maneas, E;
Ourselin, S;
Vercauteren, T;
Deprest, J;
... Stoyanov, D; + view all
(2019)
Robotic Control of a Multi-Modal Rigid Endoscope Combining Optical Imaging with All-Optical Ultrasound.
In: Dudek, Gregory, (ed.)
Proceedings of the International Conference on Robotics and Automation (ICRA 2019).
(pp. pp. 3882-3888).
IEEE: Montreal, QC, Canada, Canada.
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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 x 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.
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