Robotics as a Future and Emerging Technology

摘要

Real-time in-vivo forward-viewing optical coherence tomography imaging has been demonstrated with a novel lens scanning based MEMS endoscope catheter. An endoscopic catheter with an outer dimension of 7 mm x 7 mm has been designed, manufactured and assembled. By employing high-speed spectral domain optical coherence tomography, in-vivo two-dimensional cross-sectional images of human skin tissues were obtained as a preliminary study. Imaging speed of 122 frames per second and axial resolution of 7.7 μm are accomplished. The operation voltages are only DC 3 V and AC 6 Vpp at resonance frequency of 122 Hz. The catheter can provide many opportunities for clinical applications such as compact packaging, long working distance and body safe low operating voltages. Keywords-Biorobotics, neuro-robotics, cybernetic hand, bioinspired sensors, underactuated hand, biomimetic robot. I.