ConfocalPoster
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The document summarizes a project to automate the motion of a Vivascope 3000 confocal microscope. A team designed a motion system to provide stable XY scanning motion and maintain positioning during video capture, in order to enable large-scale video mosaicing for clinical use. The hardware includes stepper motors for 100mm travel in X and Y, linear bearings for smooth Z adjustment, and a rotational end effector to adjust the microscope's angle. Initial testing demonstrated the system's ability to generate mosaics through linear and two-dimensional scans.
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ConfocalPoster
- 1. Motion System for Confocal Microscopy Design Team Adam Afzali, Matthew Beatty, Robert DeSanti, Duncan Freake, Joseph Zimo Advisors Patrick Murphy, M.S., Constantinos Mavroidis, Ph.D., and Dana Brooks, Ph.D. Problem Statement Mechanical Design Acknowledgements Automate the motion of the Vivascope 3000 confocal microscope in an effort to bring video mosaicing technology into the forefront of in-vivo clinical use. Results Further Advancements Control Systems Required Motion 1. Move Vivascope into place 2. Provide stable XY scan motion 3. Maintain normalcy in one axis Video Mosaicing • Developed by MSKCC for the Vivascope 3000 • Creates large format images from procedural videos • Requires slow, controlled motion that is difficult for a human to maintain • Currently only used on excised tissue Example of a 12x12mm mosaic conducted on excised tissue Confocal Microscopy • Confocal microscopy is a technology utilized to non-invasively image the dermal and subdermal layers of skin on a cellular level • It enables doctors to more accurately diagnose cancer than traditional dermoscopy methods • Being handheld limits the Vivascope’s clinical use due to long procedure times and advanced user requirements Hardware • Rotational/Vertical automation • Dermascope camera integration Software • Integration between device and Vivascope software • Live image stitching • GUI enhancements – location marking, pause Testing • Locking arm validation • Validation with clinicians at MSKCC • Milind Rajadhyaksha, Ph.D., Kivanc Kose, Ph.D., Gary Peterson, B.S., and the rest of the MSKCC team for their input throughout the project • IGUS for their donation of the XY travel system • Bill Fox at Caliber I.D. for his advise towards modifying the Vivascope 3000 and providing necessary equipment • Jon Doughty for his manufacturing expertise Northeastern University Memorial Sloan Kettering Cancer Center Micro Motion System • 100mm travel in both X and Y • Stepper motors enable travel at speeds required for video capture • Donated by IGUS for the project Z-Adjustment • Linear bearings provide smooth Z-travel • Constant force springs counterbalance rotational end effector for ease of operation Rotational End Effector • Allows Vivascope to be rotated ±40° from vertical • Roller carriages designed follow curved track • Fine-tune adjustment of the calibration plate provides accurate location of the imaging plane relative to the center of the radius of curvature • Load cell measures normal force applied to skin • String potentiometer measures the angle of the Vivascope relative to vertical • The above photos indicate successful generation from linear and two dimensional scan patterns • Joystick motion control was successful in mosaic generation • Testing demonstrated that the system is mechanically capable of performing tasks necessary to generate mosaics Images created by Vivascope 3000 controlled with the motion system. 1mm 1mm