University of Twente Student Theses


Multiphoton microscopy for in-tissue imaging of micro-robots

Hlukhau, Ihar (2022) Multiphoton microscopy for in-tissue imaging of micro-robots.

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Abstract:Micro-robots are miniaturized agents of varying structures designed for minimally-invasive surgical applications, namely, micro-biopsy, tissue heating/penetration, and intracellular delivery. These agents travel through complex and narrow pathways and encounter biological barriers (e.g., protein corona, immune attack, intratumoral pressure) imposed by the human body to protect itself from intruders. Navigation in such an environment requires a robust control strategy. Medical imaging provides position feedback in closed-loop micro-robot control. Multiphoton fluorescence imaging is a technique of particular interest that offers outstanding resolution capabilities. To the best of our knowledge, there is no research done targeting its imaging applications of it within surgical robotics. For that reason, the aim of this thesis is to prove the micro-robots imaging ability in a multiphoton system. The software and hardware control algorithms were designed and implemented in an optical setup. Custom graphical user interface allows for flexible control over the imaging parameters. Experiments with several types of tissues from rats and chickens were performed for single-bot (size of 500 μm) and swarm (head size of up to 25 μm) imaging. The results show the penetration depth of 750 μm for a single-bot and 250 μm for a swarm imaging, with a possibility to reach even further.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:44 medicine, 50 technical science in general, 54 computer science
Programme:Electrical Engineering MSc (60353)
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