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This paper describes a truss climbing robot we designed and prototyped. The robot has a minimalist design with three motive degrees of freedom that enable movement along three-dimensional truss structures. This robot can form a six-degree-of-freedom structure by connecting to another identical module using a passive bar as a medium. We present the design(More)
Self-reconfiguring robots are modular robot systems that are physically connected and capable of making different geometric structures. Most current research in this field is focused on homogeneous systems in which all the modules are identical. This article explores the concept of self-assembling robot systems consisting of passive structural modules plus(More)
We report multimodal imaging of human oral cavity in vivo based on simultaneous wide-field reflectance/fluorescence imaging and polarization-sensitive optical coherence tomography (PS-OCT) with a forward-viewing imaging probe. Wide-field reflectance/fluorescence imaging and PS-OCT were to provide both morphological and fluorescence information on the(More)
The detection of colon cancer using endoscopy is widely used, but the interpretation of the diagnosis is based on the clinician's naked eye. This is subjective and can lead to false detection. Here we developed a rapid and accurate molecular fluorescence imaging technique using antibody-coated quantum dots (Ab-QDs) sprayed and washed simultaneously on colon(More)
Polarization-sensitive optical coherence tomography (PS-OCT) is a functional OCT providing both structural and birefringent information of the sample, and it has been applied to the studies of various organs having polarization properties. Fiber-based PS-OCT is sensitive to specular reflection from the sample surface, because signal saturation due to the(More)
Preservation of prostatic nerves is critical to recovery of a man's sexual potency after radical prostatectomy. A real-time imaging method of prostatic nerves will be helpful for nerve-sparing radical prostatectomy (NSRP). Polarization-sensitive optical coherence tomography (PS-OCT), which provides both structural and birefringent information of tissue, was(More)
Development of imaging probes is important to access both internal and external organs with optical imaging technologies. We developed a forward-viewing rigid imaging probe for simultaneous wide-field reflectance/fluorescence imaging and optical coherence tomography. To access internal organs through natural orifices or surgical incisions such as the oral(More)
Both polarization sensitive optical coherence tomography (PS-OCT) and second harmonic generation (SHG) microscopy are 3D optical imaging methods providing information related to collagen in the skin. PS-OCT provides birefringence information which is due to the collagen composition of the skin. SHG microscopy visualizes collagen fibers in the skin based on(More)
Multiphoton microscopy (MPM) is a nonlinear fluorescence microscopic technique widely used for cellular imaging of thick tissues and live animals in biological studies. However, MPM application to human tissues is limited by weak endogenous fluorescence in tissue and cytotoxicity of exogenous probes. Herein, we describe the applications of moxifloxacin, an(More)
Corneal suturing in keratoplasty is a difficult task due to its high precision and regularity requirements. A robot-assisted microsurgical technique could bring a better prognosis therefore investigation of the suturing motion is an essential preliminary study. Total 20 corneal sutures were performed on porcine eyes manually and the suturing motion was(More)