Robotic Imaging System with Free-Space Optics for Brain Surgery
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Solution Overview
Problem
Conventional microscopes are ill-suited for in-vivo brain imaging due to their inability to handle three-dimensional samples, limited field-of-view, poor depth-of-field, and bulk size, which restricts simultaneous imaging of multiple brain regions and depths, and are impractical for robotic brain surgery.
Innovation Solution
A robotic two-photon microscopy system integrating a microscopy system with a robotic arm, utilizing free-space optics and miniaturized optical end effectors to provide unfettered access to three-dimensional samples, enabling simultaneous multi-area imaging and deep imaging of the brain with multiple robotic arms and maintaining polarization control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional microscopes are used for brain imaging, then imaging resolution can be achieved, but the field-of-view is limited and depth-of-field is poor, making it impossible to image different parts and depths of the brain simultaneously
Solution Approach 1:
The patent divides the imaging task into multiple independent imaging systems, each responsible for a specific region or depth of the brain. Multiple robotic arms each carry imaging systems that can independently image different areas, allowing simultaneous multi-region imaging without compromising resolution or field-of-view of individual systems.
Solution Approach 2:
The patent transitions from a single-plane imaging approach to three-dimensional multi-depth imaging by positioning multiple imaging systems at different depths and orientations. This allows simultaneous imaging of superficial and deep brain structures along the z-axis, effectively adding a depth dimension to the imaging capability.
2Adaptability or versatility
If multiple conventional microscopes are used to simultaneously image different regions of the brain, then multi-area imaging capability is improved, but the bulk size becomes considerable, making it impractical for small animal brains and robotic surgery
Solution Approach 1:
The patent employs robotic arms with multiple degrees of freedom that can dynamically position and reposition imaging systems in three-dimensional space. This dynamic positioning capability allows the same imaging system to access multiple brain regions sequentially or simultaneously, replacing the need for multiple fixed microscopes and reducing overall bulk.
Solution Approach 2:
Each robotic arm with its imaging system serves as a universal imaging unit that can be positioned to image any region of the brain. This multi-functional capability allows a single imaging system to perform multiple imaging tasks across different brain areas, eliminating the need for dedicated microscopes for each region and reducing the number of components required.
3Ease of operation
If conventional microscopes are used, then three translational degrees of freedom are available for positioning, but the limited degrees-of-freedom make it ill-suited for robotic brain surgery requiring careful placement at any desired location and orientation
Solution Approach 1:
The robotic arms provide dynamic positioning with six degrees of freedom (three translational and three rotational), enabling the imaging systems to be precisely positioned and oriented at any desired location and angle around the brain. This dynamic capability far exceeds the limited three translational degrees of freedom of conventional fixed microscopes.
4Volume of moving object
If optical fiber connections are used to couple the end effector and light source, then the system is compact, but the spectral bandwidth and other light properties are limited
Solution Approach 1:
The patent extracts the light source from the compact optical fiber delivery system and positions it externally. This allows the use of free-space optical paths that support broad spectral bandwidth and various light properties (polarization, pulse duration) while maintaining system compactness through careful integration of only the essential optical components at the robotic end effector.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables high-resolution, simultaneous imaging of multiple brain regions and depths, overcoming the limitations of conventional microscopes, and facilitating advanced imaging techniques like optogenetic control, with improved spectral bandwidth and reduced bulk, suitable for small animal brains and robotic surgery.
Implementation Method 1
A robotic two-photon microscopy system integrating an optical microscopy system with a robotic system
Implementation Method 2
A free-space optical arrangement is used to deliver the excitation light to the objective (optical end effector)
Data Source
AI summary
A robotic imaging system has at least one robotic imaging arm that includes a free-space optics subsystem. The free-space optics is capable of conveying an excitation light signal through the robotic imaging arm to an optical end effector at the distal end thereof while maintaining coaxial alignment between the optical axis and the robotic skeleton. The free-space optics is also capable of maintaining linear polarization of the light signal.