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Rothermel F, Toulouse A, Thiele S, Jung C, Drozella J, Steinhoff R, Giessen H, Herkommer AM. Magnetically actuatable 3D-printed endoscopic microsystems. COMMUNICATIONS ENGINEERING 2025; 4:69. [PMID: 40204987 PMCID: PMC11982310 DOI: 10.1038/s44172-025-00403-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/24/2024] [Accepted: 03/28/2025] [Indexed: 04/11/2025]
Abstract
In endoscopy, there is a crucial demand for compact system designs to allow for imaging in narrow spaces and reduce the risk of damage during endoscopic procedures. Enhanced functionality of lensed endoscopes can be realized by integrating actuatable imaging systems with flexible fiber bundles. Conventionally fabricated actuatable endoscopes are, however, limited in their miniaturization capability, typically resulting in system diameters greater than 1 mm. In this work, we present highly compact magnetically actuatable 3D-printed and endoscopically integrated microsystems that are fabricated on the end-facet of imaging fiber bundles using two-photon polymerization. Electromagnetic microcoils affixed to the fiber bundles are utilized to stimulate embedded polymer-magnets to achieve axial, lateral, or rotatory displacement of microoptical elements leading to zooming, resolution enhancement, and increased field of view capabilities. All demonstrated systems achieve overall system diameters well below 900 µm, marking a distinct advancement in the miniaturization of actuatable endoscopic devices. This work demonstrates the feasibility of integrating highly functional and compact optical systems within endoscopes, unlocking new potential for their application in diverse fields, for example in minimally invasive ("keyhole") surgery or intravascular imaging.
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Affiliation(s)
- Florian Rothermel
- Institute of Applied Optics (ITO), University of Stuttgart, Stuttgart, Germany.
- Research Center SCoPE, University of Stuttgart, Stuttgart, Germany.
| | - Andrea Toulouse
- Institute of Applied Optics (ITO), University of Stuttgart, Stuttgart, Germany.
- Research Center SCoPE, University of Stuttgart, Stuttgart, Germany.
| | | | | | - Johannes Drozella
- Institute of Applied Optics (ITO), University of Stuttgart, Stuttgart, Germany
- Research Center SCoPE, University of Stuttgart, Stuttgart, Germany
| | - Robert Steinhoff
- Institute of Applied Optics (ITO), University of Stuttgart, Stuttgart, Germany
- Research Center SCoPE, University of Stuttgart, Stuttgart, Germany
| | - Harald Giessen
- Research Center SCoPE, University of Stuttgart, Stuttgart, Germany
- 4th Physics Institute, University of Stuttgart, Stuttgart, Germany
| | - Alois M Herkommer
- Institute of Applied Optics (ITO), University of Stuttgart, Stuttgart, Germany
- Research Center SCoPE, University of Stuttgart, Stuttgart, Germany
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Jaiswal S, Wang F, Wu X, Chang TS, Shirazi A, Lee M, Dame MK, Spence JR, Wang TD. Near-Infrared In Vivo Imaging of Claudin-1 Expression by Orthotopically Implanted Patient-Derived Colonic Adenoma Organoids. Diagnostics (Basel) 2024; 14:273. [PMID: 38337789 PMCID: PMC10854921 DOI: 10.3390/diagnostics14030273] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Revised: 01/15/2024] [Accepted: 01/24/2024] [Indexed: 02/12/2024] Open
Abstract
BACKGROUND Claudin-1 becomes overexpressed during the transformation of normal colonic mucosa to colorectal cancer (CRC). METHODS Patient-derived organoids expressed clinically relevant target levels and genetic heterogeneity, and were established from human adenoma and normal colons. Colonoids were implanted orthotopically in the colon of immunocompromised mice. This pre-clinical model of CRC provides an intact microenvironment and representative vasculature. Colonoid growth was monitored using white light endoscopy. A peptide specific for claudin-1 was fluorescently labeled for intravenous administration. NIR fluorescence images were collected using endoscopy and endomicroscopy. RESULTS NIR fluorescence images collected using wide-field endoscopy showed a significantly greater target-to-background (T/B) ratio for adenoma versus normal (1.89 ± 0.35 and 1.26 ± 0.06) colonoids at 1 h post-injection. These results were confirmed by optical sections collected using endomicroscopy. Optical sections were collected in vivo with sub-cellular resolution in vertical and horizontal planes. Greater claudin-1 expression by individual epithelial cells in adenomatous versus normal crypts was visualized. A human-specific cytokeratin stain ex vivo verified the presence of human tissues implanted adjacent to normal mouse colonic mucosa. CONCLUSIONS Increased claudin-1 expression was observed from adenoma versus normal colonoids in vivo using imaging with wide field endoscopy and endomicrosopy.
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Affiliation(s)
- Sangeeta Jaiswal
- Division of Gastroenterology, Department of Internal Medicine, University of Michigan, Ann Arbor, MI 48109, USA; (S.J.); (F.W.); (X.W.); (M.L.); (M.K.D.); (J.R.S.)
| | - Fa Wang
- Division of Gastroenterology, Department of Internal Medicine, University of Michigan, Ann Arbor, MI 48109, USA; (S.J.); (F.W.); (X.W.); (M.L.); (M.K.D.); (J.R.S.)
| | - Xiaoli Wu
- Division of Gastroenterology, Department of Internal Medicine, University of Michigan, Ann Arbor, MI 48109, USA; (S.J.); (F.W.); (X.W.); (M.L.); (M.K.D.); (J.R.S.)
| | - Tse-Shao Chang
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA;
| | - Ahmad Shirazi
- Division of Integrative System and Design, University of Michigan, Ann Arbor, MI 48109, USA;
| | - Miki Lee
- Division of Gastroenterology, Department of Internal Medicine, University of Michigan, Ann Arbor, MI 48109, USA; (S.J.); (F.W.); (X.W.); (M.L.); (M.K.D.); (J.R.S.)
| | - Michael K. Dame
- Division of Gastroenterology, Department of Internal Medicine, University of Michigan, Ann Arbor, MI 48109, USA; (S.J.); (F.W.); (X.W.); (M.L.); (M.K.D.); (J.R.S.)
| | - Jason R. Spence
- Division of Gastroenterology, Department of Internal Medicine, University of Michigan, Ann Arbor, MI 48109, USA; (S.J.); (F.W.); (X.W.); (M.L.); (M.K.D.); (J.R.S.)
| | - Thomas D. Wang
- Division of Gastroenterology, Department of Internal Medicine, University of Michigan, Ann Arbor, MI 48109, USA; (S.J.); (F.W.); (X.W.); (M.L.); (M.K.D.); (J.R.S.)
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA;
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, USA
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Lin Z, Liu W, Gan J, Lu J, Huang F, Wu X, Wang W. An Automatic Calibration Method for the Field of View Aberration in a Risley-Prism-Based Image Sensor. SENSORS (BASEL, SWITZERLAND) 2023; 23:7777. [PMID: 37765834 PMCID: PMC10537131 DOI: 10.3390/s23187777] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/27/2023] [Revised: 08/31/2023] [Accepted: 09/07/2023] [Indexed: 09/29/2023]
Abstract
Risley-prism-based image sensors can expand the imaging field of view through beam control. The larger the top angle of the prism, the higher the magnification of the field of view, but at the same time, it aggravates the problem of imaging aberrations, which also puts higher requirements on the aberration correction method for the Risley-prism-based image sensor. To improve the speed, accuracy, and stability of the aberration correction process, an automatic calibration method for the Risley-prism-based image sensor is proposed based on a two-axis turntable. The image datasets of the calibration plate with different prism rotation angles and object distances are acquired using a two-axis turntable. Then, the images of the calibration plate are pre-processed using the bicubic interpolation algorithm. The calibration parameters are finally calculated, and parameter optimization is performed. The experimental results verify the feasibility of this automated calibration method. The reprojection error of the calibration is within 0.26 pixels when the distance of the imaging sensor is 3.6 m from the object, and the fine aberration correction results are observed.
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Affiliation(s)
| | | | | | | | - Feng Huang
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China; (Z.L.); (W.L.); (J.G.); (J.L.); (X.W.); (W.W.)
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