Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas

Sishen Yuan, Chao Xu, Beilei Cui, Tinghua Zhang, Baijia Liang, Wu Yuan () and Hongliang Ren ()
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Sishen Yuan: The Chinese University of Hong Kong
Chao Xu: The Chinese University of Hong Kong
Beilei Cui: The Chinese University of Hong Kong
Tinghua Zhang: The Chinese University of Hong Kong
Baijia Liang: The Chinese University of Hong Kong
Wu Yuan: The Chinese University of Hong Kong
Hongliang Ren: The Chinese University of Hong Kong

Nature Communications, 2024, vol. 15, issue 1, 1-16

Abstract: Abstract Intraluminal epithelial abnormalities, potential precursors to significant conditions like cancer, necessitate early detection for improved prognosis. We present a motor-free telerobotic optical coherence tomography (OCT) endoscope that offers high-resolution intraluminal imaging and overcomes the limitations of traditional systems in navigating curved lumens. This system incorporates a compact magnetic rotor with a rotatable diametrically magnetized cylinder permanent magnet (RDPM) and a reflector, effectively mitigating thermal and electrical risks by utilizing an external magnetic field to maintain temperature increases below 0.5 °C and generated voltage under 0.02 mV. Additionally, a learning-based method corrects imaging distortions resulting from nonuniform rotational speeds. Demonstrating superior maneuverability, the device achieves steerable angles up to 110° and operates effectively in vivo, providing distortion-free 3D programmable imaging in mouse colons. This advancement represents a significant step towards guidewire-independent endomicroscopy, enhancing both safety and potential patient outcomes.

Date: 2024
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DOI: 10.1038/s41467-024-51633-x

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