Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy

@article{Rosa2011LaparoscopicOB,
  title={Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy},
  author={Benoit Rosa and Benoit Herman and J{\'e}r{\^o}me Szewczyk and Brice Gayet and Guillaume Morel},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={1339-1345}
}
Probe-based confocal laser endomicroscopy is a promising technology for performing minimally-invasive optical biopsies. With the help of mosaicing algorithms, several studies reported successful results in endoluminal surgery. In this paper, we present a prototype for making robotized optical biopsies on a variety of organs inside the abdominal cavity. We chose a macro-micro association, with a macropositioner, a micropositioner and a passive mechanical compensation of physiological motion. The… CONTINUE READING
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