Intelligent Diagnostic and Micro-Surgical Robotic Systems for Gastrointestinal Multimodal Endomicroscopy and Precise Subretinal Injection using AI-assisted Signal Processing
- Title
- Intelligent Diagnostic and Micro-Surgical Robotic Systems for Gastrointestinal Multimodal Endomicroscopy and Precise Subretinal Injection using AI-assisted Signal Processing
- Alternative Title
- 다중 모드 위장관 내시 현미경 및 망막하 정밀 주입을 위한 인공지능 신호 처리를 사용한 지능형 진단 및 미세 로봇 수술 시스템
- Author(s)
- Jintaek Im
- DGIST Authors
- Jintaek Im ; Cheol Song ; Sukho Park
- Advisor
- 송철
- Co-Advisor(s)
- Sukho Park
- Issued Date
- 2024
- Awarded Date
- 2024-02-01
- Type
- Thesis
- Description
- Multimodal endo-microscopy;Handheld robotic microinjector;AI-assisted scanning pattern regulation control for imaging;AI-assisted adaptive controller for robotic hand tremor compensation
- Table Of Contents
-
Ⅰ. INTRODUCTION 1
1.1 Study Background 1
1.2 Optical Biopsy with Endomicroscopy 2
1.3 Robot-assisted Ophthalmic Microsurgery 4
1.4 Study Objectives and Scopes 6
II. WORKING PRINCIPLE 7
2.1 Intelligent Multimodal Endomicroscopy 7
2.1.1 Confocal Fluorescent Microscopy (CFM) 7
2.1.2 Optical Coherence Tomography (OCT) 11
2.1.3 Multimodal Imaging (CFM & OCT) 14
2.1.4 Resonant Fiber Scanner 15
2.1.5 Asymmetric Fiber Cantilever 18
2.1.6 Lissajous Scanning 22
2.2 Intelligent Handheld Robotic Microinjector 27
2.2.1 Common-path OCT (CP-OCT) 27
2.2.2 Fabry-Perot Interferometer (FPI) 30
2.2.3 Multimodal Force and Distance Measurements (FPI & CP-OCT) 34
2.2.4 Handheld Motion Compensation 37
III. SYSTEM DESIGN AND IMPLEMENTATION 40
3.1 Intelligent Multimodal Endomicroscopy 40
3.1.1 System Configuration 40
3.1.2 Compact Imaging Probe 44
3.1.3 Mathematical Modeling on Asymmetric Scanning Cantilever 48
3.1.4 Scanning Parameter Determination for Optimal Lissajous Pattern 65
3.1.5 Artificial Intelligence-based Scanning Pattern Regulation Controller 71
3.1.6 Compact Depth Scanner via Mechanical Amplifier 77
3.2 Intelligent Handheld Robotic Microinjector 82
3.2.1 System Configuration 82
3.2.2 Sensorized Needle 83
3.2.3 Artificial Intelligence-based Adaptive Motor Controller 86
IV. EXPERIMENTAL RESULTS 96
4.1 Intelligent Multimodal Endomicroscopy 96
4.1.1 Implemented System 96
4.1.2 Imaging Results on Test Specimens 99
4.1.3 Imaging Results on Biological Samples 103
4.2 Intelligent Handheld Robotic Microinjector 105
4.2.1 Performances of Distance and Force Measurements 105
4.2.2 Motorized Injection Performance on Eye Phantom 108
V. CONCLUSION AND FUTURE WORKS 112
5.1 Conclusion 112
5.2 Future Works 113
5.2.1. Multimodal Endomicroscopy with Force Measurement 113
5.2.2. Integrated Microinjection System with an Intraoperative OCT Imaging 115
REFERENCES 116
국문 요약문 127
- URI
-
http://hdl.handle.net/20.500.11750/48009
http://dgist.dcollection.net/common/orgView/200000730522
- Degree
- Doctor
- Publisher
- DGIST
- Related Researcher
-
-
Song, Cheol
- Research Interests Handheld medical robotics; Smart robotic microsurgery; Smart neuro-rehabilitation; Bio-photonic sensing and imaging
-
- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Ph.D.
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