Fig. 6: MMAT-OCT imaging performance in curved lumens. | Nature Communications

Fig. 6: MMAT-OCT imaging performance in curved lumens.

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

Fig. 6

a, b Experimental setup: MMAT-OCT navigated through four distinct lumens in a human lung phantom and an ex vivo rat trachea to assess imaging quality. Pathway I: Catheter route from trachea to the right lower lobe lateral basal segment, with a terminal curvature of 55°. Pathway II: Extends from left main bronchus to left upper lobe bronchus, showing continuous bending with a terminal angle of 101°. Pathway III: From right main bronchus to right upper lobe apical segment, with severe bending of 315°, causing catheter stress and wall pressure that induce NURD and axial resolution loss. Pathway IV: Starts at left main bronchus, ends at left upper lobe anterior segment; features 3D continuous bending and an interplanar angle of 62°, leading to rotational inhomogeneity and axial translation. c Quantitative analysis (n = 3) in imaging quality impact across four conditions. The high-frequency errors (Supplementary Note 7) have a mean of 47.06% with a standard deviation of 4.12%, while the low-frequency errors (Supplementary Note 7) have a mean of 5.73% with a standard deviation of 1.27%. Data are presented as mean values +/− SD. Source data are provided as a Source Data file.

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