FF-ViT: probe orientation regression for robot-assisted endomicroscopy tissue scanning.

ABSTRACT:

Purpose

Probe-based confocal laser endomicroscopy (pCLE) enables visualization of cellular tissue morphology during surgical procedures. To capture high-quality pCLE images during tissue scanning, it is important to maintain close contact between the probe and the tissue, while also keeping the probe perpendicular to the tissue surface. Existing robotic pCLE tissue scanning systems, which rely on macroscopic vision, struggle to accurately place the probe at the optimal position on the tissue surface. As a result, the need arises for regression of longitudinal distance and orientation via endomicroscopic vision.

Method

This paper introduces a novel method for automatically regressing the orientation between a pCLE probe and the tissue surface during robotic scanning, utilizin

SUBMITTER: Xu C 

PROVIDER: S-EPMC11582276 | biostudies-literature | 2024 Jun

REPOSITORIES: biostudies-literature