Fig. 1: Overview of the MMAT-OCT system and its capacities. | Nature Communications

Fig. 1: Overview of the MMAT-OCT system and its capacities.

From: Motor-free telerobotic endomicroscopy for steerable and programmable imaging in complex curved and localized areas

Fig. 1

a A 6-degree-of-freedom (6-DoF) robotic arm terminated with a magnetic actuator for probe navigation and OCT imaging in in vivo scenarios. The black box represents the MMAT-OCT probe. BEPM indicates the magnetic field generated by the actuator. b Schematic of the ultrahigh-resolution 800-nm SD-OCT endoscopic system. AC achromatic collimator, PP prism pair, M mirror, PC polarization controller, CLTS computerized linear translation stage. c Assembly design (I) and photography (II) of the MMAT-OCT probe. d Schematic illustration of steering MMAT-OCT in a phantom model. Fmag denotes the magnetic force, Tmag denotes the magnetic torque. e The angular scanning MMAT-OCT with a pullback CLTS, enabling programmable imaging of the targeted tissue. \(r\) denotes the inner diameter of the cavity; \(\theta\) is the scanning angle; and \({{{\mathcal{l}}}}\) represents the laser’s path during the angular scanning. The cross-sections display the representative angular scans of the mouse colon tissue. a, b Created with BioRender.com released under a Creative Commons Attribution-NonCommercial-NoDerivs 4.0 International license (https://creativecommons.org/licenses/by-nc-nd/4.0/deed.en).

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