Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas

Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas Hongliang Ren, Sishen Yuan, Chao Xu, Beilei Cui, Tinghua Zhang, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4375033/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 03 Sep, 2024 Read the published version in Nature Communications → Version 1 posted You are reading this latest preprint version Abstract Aberrations in intraluminal epithelia are precursors to a plethora of critical conditions, including various cancers, where early detection is crucial for patient prognosis. Optical Coherence Tomography (OCT) endoscopy has emerged as a promising imaging technique that provides high resolution in micrometers and imaging depth in millimeters. However, conventional proximal-scanning OCT endoscopes face challenges in imaging tortuous lumens. Motor-driven distal-scanning OCT endoscopes afford potential solutions but pose thermal and electrical risks to tissues. Crucially, these systems lack the requisite compact steering mechanisms for effective navigation within complex luminal organs, commonly involving tooltip deformations, including bending, torsion, and compression. Here, we present a motor-free telerobotic OCT endoscope of a 1.28 ~ 2.28-mm long magnetic rotator integrating a rotatable diametrically magnetized cylinder permanent magnet (RDPM) with a light reflector. Utilizing an external magnetic field effectively mitigates heat effects induced by current and voltage, yielding a maximum voltage of less than 0.02 mV and a temperature rise of no more than 0.5 °C even during continuous operation lasting one hour. Furthermore, a learning-based approach is developed to correct the common OCT imaging distortions resulting from nonuniform rotation within curved luminal organs. The endoscope demonstrates remarkable maneuverability, enabling steerable angles up to 110° under a magnetic field strength of ~ 500 mT and a gradient of ~ 0.06 mT/mm. In-vivo studies on mouse colons validate the endoscope's ability to deliver reliable angular control for localized 3D imaging, unaffected by bending and without the need for feedback. This advancement in intraluminal microimaging introduces a new guidewire-independent technique in endomicroscopy, enhancing safety and potentially improving patient care. Physical sciences/Engineering/Biomedical engineering Physical sciences/Optics and photonics/Applied optics/Optoelectronic devices and components Full Text Additional Declarations There is NO Competing Interest. Supplementary Files SupplementaryInfo.pdf Supplementary Materials Movie1.mp4 Online Rotational Speed Tuning in the MMAT-OCT Endoscope Movie2.mp4 Simulated Shaft-free RDPM’s Rotational Dynamics Movie3.mp4 MMAT-OCT Images 3D Reconstruction Movie4.mp4 Steerability Evaluation Movie5.mp4 Programmable Imaging on Mouse Colon Cite Share Download PDF Status: Published Journal Publication published 03 Sep, 2024 Read the published version in Nature Communications → Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4375033","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":300189960,"identity":"c9969658-3c90-4b24-a8f5-6acd73ef16f9","order_by":0,"name":"Hongliang 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