OCT image-guidance of needle injection for robotized flexible interventional endoscopy

Oscar Caravaca Mora; Maxime Abah; Lucile Heroin; Guiqiu Liao; Zhongkai Zhang; Philippe Zanne; Benoit Rosa; Diego Dall'Alba; Paolo Fiorini; Michel de Mathelin; Michele Diana; Florent Nageotte; Michalina Gora

doi:10.1117/12.2576186

5 March 2021 OCT image-guidance of needle injection for robotized flexible interventional endoscopy

Oscar Caravaca Mora, Maxime Abah, Lucile Heroin, Guiqiu Liao, Zhongkai Zhang, Philippe Zanne, Benoit Rosa, Diego Dall'Alba, Paolo Fiorini, Michel de Mathelin, Michele Diana, Florent Nageotte, Michalina Gora

Author Affiliations +

Proceedings Volume 11620, Endoscopic Microscopy XVI; 116200D (2021) https://doi.org/10.1117/12.2576186
Event: SPIE BiOS, 2021, Online Only

Abstract

Endoscopic submucosal dissection (ESD) is a minimally invasive treatment for early stage colorectal cancer that can be performed in teleoperation with a robotized flexible interventional endoscope. However, the tissue elevation step which requires submucosal needle insertion still requires manual operation. In this work we present robotic needle placement using image-guidance that combines white-light camera images to control the alignment of the needle and the OCT catheter. OCT images are used to determine the position of the needle tip during its insertion. This procedure is experimentally tested in an optical phantom that simulates the tissue layers of the colon.

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Oscar Caravaca Mora, Maxime Abah, Lucile Heroin, Guiqiu Liao, Zhongkai Zhang, Philippe Zanne, Benoit Rosa, Diego Dall'Alba, Paolo Fiorini, Michel de Mathelin, Michele Diana, Florent Nageotte, and Michalina Gora "OCT image-guidance of needle injection for robotized flexible interventional endoscopy", Proc. SPIE 11620, Endoscopic Microscopy XVI, 116200D (5 March 2021); https://doi.org/10.1117/12.2576186

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