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

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 probe is actuated by three hydraulic micro-balloons and can be moved on the surface of an organ to generate a mosaic. This paper presents the design and experimental results of a first in vivo trial on a porcine model.