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Robotic control of a multi-modal rigid endoscope combining optical imaging with all-optical ultrasound

Research output: Chapter in Book/Report/Conference proceedingConference paper

George Dwyer, Richard J. Colchester, Erwin J. Alles, Efthymios Maneas, Sebastien Ourselin, Tom Vercauteren, Jan Deprest, Emmanuel Vander Poorten, Paolo De Coppi, Adrien E. Desjardins, Danail Stoyanov

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781538660263
Publication statusPublished - 1 May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019


Conference2019 International Conference on Robotics and Automation, ICRA 2019

King's Authors


Fetoscopy is a technically challenging surgery, due to the dynamic environment and low diameter endoscopes often resulting in a limited field of view. In this paper, we report on the design and operation of a robotic multimodal endoscope with optical ultrasound and white light stereo camera. The manufacture and control of the endoscope is presented, along with large area (80 mm ×80 mm) surface visualisations of a placenta phantom using the optical ultrasound sensor. The repeatability of the surface visualisations was found to be 0. 446 ± 0.139 mm and 0. 267 ± 0.017 mm for a raster and spiral scan, respectively.

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