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

DGIST Authors

Jintaek Im ; Cheol Song ; Sukho Park

Advisor

송철

Co-Advisor(s)

Sukho Park

Issued Date

2024

Awarded Date

2024-02-01

Citation

Jintaek Im. (2024). Intelligent Diagnostic and Micro-Surgical Robotic Systems for Gastrointestinal Multimodal Endomicroscopy and Precise Subretinal Injection using AI-assisted Signal Processing. doi: 10.22677/THESIS.200000730522

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

DOI

10.22677/THESIS.200000730522

Degree

Doctor

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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