Endomicroscopy for Computer and Robot Assisted Intervention

摘要: Endomicroscopy is a new technique that allows human tissue to be characterized in vivo and situ , circumventing the need for conventional biopsy histology. Despite increased application growing research interests this area, clinical of endomicroscopy, however, limited by difficulties ergonomic control, consistent probe-tissue contact, large area surveillance, retargeting. Recently, advances high-speed imaging, mosaicing, robotics have aimed address these difficulties. The development robot-assisted devices particular has shown great promises extending potential endomicroscopy. Issues related miniaturization, adaptation deformation, control stability, force position compensation, cost, sterility are being pursued both commercial communities. In review, recent technical developments different aspects computer robotic assisted endomicroscopy interventions including instrumentation, multiscale integration, imaging techniques presented. We further emerging trends opportunities toward more widespread acceptance robotically technologies.