publications

Targeted neuroimaging plays a vital role in evaluating pathologies and guiding interventions in deep brain regions, such as biopsy, laser ablation, and deep brain stimulation. However, current neuroimaging techniques face several challenges when it comes to imaging the deep brain. These challenges include limited imaging depth, a narrow field of view, low resolution, and a lack of real-time imaging and stereotactic deployment capabilities. To address these challenges, a patient-mounted neuro optical coherence tomography (neuroOCT) system that combines a lightweight 5 degrees-of-freedom skull-mounted robot (Skullbot) with a neuroendoscope measuring ≈0.6 mm in diameter is introduced. This innovative system enables targeted and minimally invasive neuroimaging with an axial resolution of ≈2.4 μm and a transverse resolution of around 4.5 μm. The Skullbot can be securely attached to the head and precisely deploys the neuroendoscope with an accuracy of ±1.5 mm in the transverse direction and ±0.25 mm in the longitudinal direction. This allows for motion-insensitive stereotactic imaging within the brain. By utilizing the neuroOCT system, targeted imaging of a tumor in a brain phantom is successfully demonstrated. Furthermore, the system's capability for in vivo micro-resolution volumetric neuroimaging of fine structures within a mouse brain is validated.

Needle interventions are crucial in neurosurgery, requiring high precision and stability. This paper presents a 5-DoF head-mounted hydraulic needle robot designed for accurate and targeted needle insertion and neuroimaging in the deep brain. The robot is compact and lightweight by utilizing a hydraulic pipe transmission to connect the needle driver and actuator. The syringe pistons serve as the actuator and executor, enabling synchronized motion, minimal hysteresis, and high-accuracy insertion. The hydraulic transmission system exhibits hysteresis of less than 0.8 mm, with bidirectional insertion accuracy of approximately 0.05 mm. The resulting needle driver features a compact structure measuring 48 mm × 25 mm × 9 mm, accompanied by a 70-mm-long needle guide. The needle driver is mainly 3D printed, while the hydraulic transmission ensures full compatibility with magnetic resonance imaging (MRI) by isolating all electromagnetic parts from the executor. This compact and lightweight robot-assisted needle intervention system significantly enhances the safety, accuracy, and effectiveness of deep-brain neuroimaging. The feasibility of precise positioning and insertion is further demonstrated by deploying an optical coherence tomography (OCT) microneedle in a rat brain.

To effectively manage inoperable deep-seated brain diseases, a high-resolution diminutive endoscope is required. This endoscope should be capable of precisely localizing and evaluating lesions in vivo. In this study, we introduce an ultrathin robotic OCT neuroendoscope designed for minimally invasive and targeted imaging in the deep brain. The neuroendoscope, measuring only 0.6mm in diameter, is fabricated by coupling a custom micro-lens on the fiber tip. This fabrication technique enables high resolution imaging of 2.4μm x 4.5μm in the axial and transverse directions. To ensure precise trajectory planning and accurate lesion localization within the brain, we have developed a skull-mounted robotic neuroendoscope positioner, allowing for a localization accuracy of approximately 1mm. To demonstrate the capabilities of our technology, we have utilized electromagnetic tracking technology to enable us to control and navigate the neuroendoscope, allowing for the precise localization and imaging of targets within a brain phantom. The new technology holds significant potential to translate OCT neuroendoscopy into clinical practice for deep brain conditions.