WO2022096110A1 - Instrument d'endoscopie - Google Patents

Instrument d'endoscopie Download PDF

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Publication number
WO2022096110A1
WO2022096110A1 PCT/EP2020/081183 EP2020081183W WO2022096110A1 WO 2022096110 A1 WO2022096110 A1 WO 2022096110A1 EP 2020081183 W EP2020081183 W EP 2020081183W WO 2022096110 A1 WO2022096110 A1 WO 2022096110A1
Authority
WO
WIPO (PCT)
Prior art keywords
probe
tissue
instrument according
suction
endoscopy instrument
Prior art date
Application number
PCT/EP2020/081183
Other languages
English (en)
Inventor
Luca Bartolini
Davide Iannuzzi
Ludo VAN HAASTERECHT
Original Assignee
Stichting Vu
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stichting Vu filed Critical Stichting Vu
Priority to PCT/EP2020/081183 priority Critical patent/WO2022096110A1/fr
Publication of WO2022096110A1 publication Critical patent/WO2022096110A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00172—Optical arrangements with means for scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/015—Control of fluid supply or evacuation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion

Definitions

  • the invention relates to an endoscopy instrument and to a method of carrying out in- vivo characterisation of tissue using an endoscopy instrument.
  • an endoscopy instrument for in-vivo characterisation of tissue
  • the endoscopy instrument comprising : a probe for insertion into a body orifice and probing the tissue through the body orifice; an actuator operably coupled to the probe so that the actuator is operable to, through the probe, cause mechanical deformation of the tissue; and an imaging device operably coupled to the probe so that the imaging device is operable to, through the probe, obtain an image of the mechanically deformed tissue.
  • the body orifice may be a naturally occurring opening in a human or animal body (such as the vagina, the anus, the mouth or the nose) or may be an artificially created opening in a human or animal body (such as a wound, gash, a cut or an incision).
  • the combination of the probe, the actuator and the imaging device in the endoscopy instrument of the invention enables a relatively quick physical examination through a body orifice in a manner that is considered to be 'non-invasive' or 'minimally invasive'. This is primarily due to the configuration of the actuator and imaging device to carry out their respective functions through the probe in order to carry out the examination through the body orifice.
  • Information obtained from the examination may include information about the structure of the examined tissue, one or more mechanical properties of the examined tissue or a combination of both, which produces a more comprehensive diagnosis about the tissue's condition and thereby the patient's health.
  • the image of the mechanically deformed tissue preferably includes depth-resolved information about the mechanically deformed tissue, such as one or more depth- resolved profiles.
  • the information may include elastograms that provide the spatially resolved plotting of one or more mechanical properties of the examined tissue.
  • the ability of the invention to carry out in-vivo characterisation of the tissue reduces or removes the need for biopsies in many cases that are not only more invasive and more expensive but also require more complex sample handling procedures and longer diagnosis times.
  • the endoscopy instrument of the invention can be used to identify a suitable sampling site due to the configuration of the actuator and imaging device to carry out their respective functions through the probe.
  • the more limited information provided by colposcopy may result in identification of an unsuitable biopsy sampling site, which in turn could lead to an incorrect diagnosis.
  • the configuration of the actuator and imaging device to carry out their respective functions through the probe enables the examination to be carried out through the probe without requiring more invasive procedures, external actuators, external imaging equipment or multiple medical personnel.
  • the invention may be used without requiring the medical personnel, such as a gynaecologist, having to undergo special training. This reduces the cost and complexity of carrying out the examination, which can be particularly beneficial in areas and countries with reduced access to medical facilities.
  • the configuration of the actuator and imaging device to carry out their respective functions through the probe also reduces the time required for the examination by enabling the guidance of the probe through the body orifice and to the target tissue site, the actuation and the imaging to be performed as a single action or a low number of actions. Furthermore, real-time adjustment of the probe can be readily carried out in order to obtain more information in the same examination.
  • the configuration of the endoscopy instrument of the invention enables its use in a manner that beneficially reduces physical and mental discomfort of the patient, which in turn could have the effect of encouraging more people to undergo health checks.
  • the ability of the invention to perform a comprehensive examination through a body orifice in a procedurally efficient and cost-effective manner is particularly suited to carry out screening in high numbers to achieve early disease detection and thereby ensure timely treatment.
  • the probe may be suitable for probing, through the body orifice, the entire tissue or part of a given tissue, i.e. a specific tissue region.
  • the probe may be suitable for use in pre-surgery, during surgery and in post-surgery.
  • the probe may be suitable for use in pre-clinical and clinical environments.
  • the configuration and operation of the imaging device may vary.
  • the imaging device may include a scanner, such as a one-dimensional scanner and/or a two-dimensional scanner.
  • the one-dimensional scanner is configured to scan, e.g. by steering a beam, along one transversal axis.
  • the two-dimensional scanner is configured to scan, e.g. by steering a beam, along two transversal axes.
  • the imaging device may be operable to obtain a two-dimensional image of the mechanically deformed tissue and/or a three- dimensional image of the mechanically deformed tissue.
  • the two-dimensional image of the mechanically deformed tissue may be obtained by acquiring one-dimensional cross-sectional images of the mechanically deformed tissue (e.g. using a one-dimensional scanner) and by combining (e.g. stacking or overlaying) the one-dimensional cross-sectional images to construct the two-dimensional image.
  • the three-dimensional image of the mechanically deformed tissue may be obtained by acquiring two-dimensional cross-sectional images of the mechanically deformed tissue (e.g. using a two-dimensional scanner) and by combining (e.g. stacking or overlaying) the two-dimensional cross-sectional images to construct the three-dimensional image.
  • the configuration and operation of the actuator of the invention may vary so long as it is capable of, through the probe, causing mechanical deformation of the tissue.
  • the actuator may be configured to be capable of performing suction elastometry. More specifically, the actuator may include a suction device operably coupled to the probe so that the suction device is operable to, through the probe, apply a suction to the tissue to cause the mechanical deformation of the tissue.
  • the absolute pressure of the applied suction is preferably in the range of 300 mbar to 1050 mbar. Since the suction elastometry can be carried out through the probe, it is compatible with the non-invasive or minimally invasive nature of the endoscopy instrument of the invention.
  • Elastography may be performed through the probe using the combination of the suction elastometry and the imaging capability of the imaging device.
  • the information obtained from the elastography may include one or more structural images of the examined tissue, elasticity/stiffness of the examined tissue or elastograms combining the structural image(s) and the elasticity/stiffness information.
  • the suction device may include a suction chamber and a suction aperture that are formed in the probe, the suction chamber defining a suction pathway and connected to the suction aperture.
  • the mechanical deformation of the tissue is carried out by sucking the tissue through the suction aperture.
  • the position of the suction aperture in the probe may vary depending on the requirements of the procedure. For example, the position of the suction aperture in the probe may vary depending on the accessibility of the tissue to be probed.
  • the suction aperture may be formed at a distal end of the probe.
  • the suction aperture may be formed along a longitudinal axial length of the probe at an intermediate position between the proximal and distal ends of the probe.
  • the suction aperture may be co-axial with a longitudinal axial length of the probe.
  • an axis of the suction aperture may be at a non-zero angle (e.g. 15°, 30°, 45°, 60° or 75°) or perpendicular to a longitudinal axial length of the probe.
  • the suction device may include a pressure controller, such as a vacuum source.
  • the suction device may be connectable to an external pressure controller, such as an external vacuum source.
  • the pressure controller may include any pressure regulating device or equipment that is capable of controlling pressure that results in the application of the suction to the tissue by the suction device.
  • the pressure controller may be operable to control the pressure in the suction chamber so that the suction is applied to the tissue via the suction aperture.
  • the probe may include a projecting probe member for insertion into the body orifice and probing the tissue through the body orifice.
  • the actuator may be operably coupled to the probe member so that the actuator is operable to, through the probe member, cause mechanical deformation of the tissue.
  • the imaging device may be operably coupled to the probe member so that the imaging device is operable to, through the probe member, obtain the image of the mechanically deformed tissue.
  • the projecting shape of the probe member provides a reliable means for performing the elastography. It will be understood that the term "projecting" in the context of the probe member is intended to describe a probe member with a length significantly longer than its width or thickness. For example, the length of the probe member may be several times longer than the width or thickness of the probe member.
  • the probe member may be a straight probe member or a curved probed member.
  • the probe may be a transvaginal probe.
  • the invention is applicable for use in a wide range of transvaginal procedures and gynaecological applications, including vaginal wall inspection and pelvic floor prolapse/dysfunction.
  • the invention may be used as a diagnostic device to examine a health status of part or all of a woman's pelvis, including pelvic tissue and pelvic organs.
  • the transvaginal probe is for probing cervical tissue, more preferably for probing a cervical epithelial layer of the cervical tissue.
  • the invention may preferably be used in cervical cancer screening.
  • cervical screening programmes are based on visual inspection via colposcopy that only provides surface images of the cervical tissue.
  • the transvaginal examination by the endoscopy instrument of the invention provides more depth-resolved information about the cervical tissue that aids the assessment of cervical cancer progression without requiring a biopsy for all cases or a majority of cases.
  • the probe may be a transrectal probe.
  • the endoscopy instrument may be used to examine the prostate, preferably for prostate cancer screening.
  • the probe may be an oral probe or a nasal probe.
  • the endoscopy instrument may include a housing configured to house the imaging device.
  • the imaging device may be connectable to a processing circuit for storing and processing data collected by the imaging device.
  • the processing circuit may form part of the endoscopy instrument or may be external to the endoscopy instrument.
  • the processing circuit may include a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the processing circuit to storing and processing the data collected by the imaging device.
  • the processing circuit may be, may include, may communicate with or may form part of one or more of an electronic device, a portable electronic device, a portable telecommunications device, a microprocessor, a mobile phone, a personal digital assistant, a tablet, a phablet, a desktop computer, a laptop computer, a server, a cloud computing network, a smartphone, a smartwatch, smart eyewear, and a module for one or more of the same. It will be appreciated that references to a memory or a processor may encompass a plurality of memories or processors.
  • a part or the whole of the probe may be removably attached to the housing.
  • the ability to remove a part or the whole of the robe from the housing enables replacement of the removed component with a different corresponding component not only for hygiene reasons but also for meeting the requirements of different procedures.
  • the endoscopy instrument may include an optical relay arranged in the probe and operably coupled to the imaging device.
  • the provision of the optical relay enables the imaging device to be spaced apart from the mechanically deformed tissue without compromising its ability to obtain the image of the mechanically deformed tissue. This thereby reduces or removes the need for the imaging device to be housed in or form part of the probe, thus removing limitations on the size and shape of the imaging device.
  • the provision of the optical relay provides a greater range of design options of the form factor of the probe to improve or tailor its probing capability while retaining the ability of the imaging device to obtain the image of the mechanically deformed tissue.
  • the optical relay may include an optical window aligned with the suction aperture.
  • the optical window is anti-reflective and/or sealed.
  • the optical relay may include at least one optical mirror. The provision of the optical window and/or the or each optical mirror provides more flexibility in choosing the form factor of the probe, which in turn increases the variety of configurations of the endoscopy instrument.
  • the invention may employ any type of imaging device so long as the imaging device is operable to, through the probe, obtain an image of the mechanically deformed tissue.
  • the imaging device may be an optical coherence tomography imaging device.
  • Optical coherence tomography can be used to visualise part or whole of the thickness of the examined tissue, thus providing more information about the tissue's condition. This can rule out the need for a biopsy, which is a time-consuming and expensive process that requires the tissue to be sampled and sent for laboratory analysis.
  • a method of carrying out in-vivo characterisation of tissue using the endoscopy instrument of any one of the first aspect of the invention and its embodiments comprising the steps of: inserting the probe into a body orifice; using the probe to probe the tissue through the body orifice; operating the actuator to, through the probe, cause mechanical deformation of the tissue; and operating the imaging device to, through the probe, obtain an image of the mechanically deformed tissue.
  • the method of the invention may include the step of operating the suction device to, through the probe, apply a suction to the tissue to cause the mechanical deformation of the tissue.
  • the method of the invention may be used to carry out in-vivo characterisation of cervical tissue.
  • the method of the invention may be used to carry out in-vivo characterisation of a cervical epithelial layer of the cervical tissue.
  • the method of the invention may include the step of operating the imaging device to, through the probe, obtain an optical coherence tomography image of the mechanically deformed tissue.
  • Figure 1 shows an endoscopy instrument according to an embodiment of the invention.
  • Figure 2 shows the working principle of the endoscopy instrument of Figure 1.
  • Cervical cancer is a widespread disease that affects women of all ages with a high mortality rate. Cervical cancer develops slowly and begins as a precancerous condition called cervical intraepithelial neoplasia (CIN). CIN is also called “dysplasia” or “lesion” and is classified into:
  • CIN 3 High-grade, severe dysplasia
  • CIN 1 is considered to be relatively safe and can be managed because patient worsening is known to be slow and repeated testing (typically in 3-5 year cycles) is usually sufficient to detect cancer progression early.
  • CIN 2 and CIN 3 have higher chances of progressing into cancer and require surgical intervention.
  • FIG. 1 An endoscopy instrument according to an embodiment of the invention is shown in Figure 1 and is described generally by the reference numeral 20.
  • the endoscopy instrument 20 comprises a transvaginal probe, an actuator, a housing 22, an imaging device and an optical relay.
  • the transvaginal probe includes a projecting probe member 26 for insertion into the vagina and probing tissue through the vagina.
  • the projecting probe member 26 is a straight probe member in the embodiment shown but may be a curved probe member in other embodiments.
  • a proximal end of the probe member 26 has a threaded end that is threadably connected to a threaded portion 28 of the housing 22.
  • Other ways of removably attaching or removably fastening the probe member 26 to the housing 22 are envisaged.
  • the actuator includes a suction device.
  • the suction device includes a suction chamber 30 and a suction aperture 32.
  • the suction chamber 30 is formed as an internal cavity of the probe member 26 to form a suction pathway that extends along the length of the probe member 26. As described later in this specification, the pressure inside the suction pathway can be controlled.
  • the suction aperture 32 is formed along a longitudinal axial length of the probe member 26 at an intermediate position between the proximal and distal ends of the probe member 26 so that the suction aperture 32 is perpendicular to the longitudinal axial length of the probe member 26.
  • the suction aperture 32 is formed as a circular aperture in a wall of the probe member 26 near the distal end of the probe member 26, and the suction aperture 32 is connected to the suction chamber 30.
  • the suction aperture 32 may have a different shape (e.g. oval, oblong, square, rectangular) in other embodiments.
  • the suction aperture may be formed at a distal end of the probe member. It is envisaged that, in still other embodiments of the invention, the suction aperture may be co-axial with a longitudinal axial length of the probe member.
  • a flow outlet 33 of the suction chamber 30 is connected via a vacuum conduit (such as a vacuum hose) to an external vacuum source (such as a vacuum pump) at the proximal end of the probe member 26. This enables the external vacuum source to control a pressure inside the suction chamber 30 (e.g. by evacuating the suction chamber 30).
  • the controlled pressure inside the suction chamber 30 enables the application of suction to the tissue via the suction aperture 32, thereby causing mechanical deformation of the tissue by pulling the tissue inwards through the suction aperture 32
  • the suction is applied using an absolute pressure in the range of 300 mbar to 1050 mbar inside the suction chamber 30.
  • the vacuum source may be integral to the endoscopy instrument.
  • the vacuum source may be in the form of a vacuum pump housed inside the housing.
  • the suction device is therefore operable to carry out suction elastometry by, through the probe member 26, applying a suction to the tissue to cause mechanical deformation of the tissue.
  • a control valve may be used to regulate the pressure within the suction chamber 30.
  • the control valve may form part of the vacuum source or part of the endoscopy instrument 20.
  • the endoscopy instrument 20 further includes an optional vent valve that is selectively activatable to vent the suction chamber 30.
  • the primary purpose of the vent valve is to act as a safety valve in the event of an unexpected change in pressure in the suction chamber.
  • the housing 22 includes a housing opening that is co-axial with the threaded end of the probe member 26.
  • the imaging device includes a two-dimensional optical coherence tomography (2D OCT) scanner 24 and a lens 34 that are housed inside the housing 22 so that the lens 34 is positioned between the 2D OCT scanner 24 and the housing opening.
  • the lens 34 is preferably mounted onto a base plate 36 of the housing 22.
  • the housing 22 is designed to be hand-held.
  • the housing 22 may include a handle for gripping.
  • the housing 22 may be made of any material but is preferably made of polymer material.
  • the optical relay includes a hollow optical chamber 38, an optical window 40 and an optical mirror 42.
  • the optical chamber 38 extends inside the suction chamber 30 along the longitudinal axial length of the probe member 26.
  • a proximal end of the optical relay defines an open end that is co-axially aligned with an optical beam path of the 2D OCT scanner 24 and the lens 34.
  • the optical window 40 and optical mirror 42 are arranged at a distal end of the optical chamber 38.
  • the optical window 40 is aligned with the suction aperture 32 and is sealed to isolate the optical chamber 38 from the suction chamber 30.
  • the optical mirror 42 is arranged to be tilted inside the optical chamber 38 so to form an optical beam path between the optical window 40 and the 2D OCT scanner 24, where the optical beam path passes through the lens 34. In this way, the optical relay enables the 2D OCT scanner 24 to, through the probe member 26, carry out imaging of the tissue that is mechanically deformed through the suction aperture 32.
  • the optical relay may include an optical fibre, such as an optical fibre bundle or a light rod conduit, to form the optical beam path between the optical window 40 and the 2D OCT scanner 24.
  • an optical fibre such as an optical fibre bundle or a light rod conduit
  • the optical mirror 42 is optional.
  • the optical mirror 42 may be omitted if the optical relay is configured in other ways to relay optical information between the optical window 40 and the 2D OCT scanner 24.
  • the optical window 40 may be positioned to be co-axial with the 2D OCT scanner 24.
  • the optical relay may rely on the use of an optical fibre to relay optical information between the optical window 40 and the 2D OCT scanner 24.
  • the 2D OCT scanner 24 is coupled, via a collimator 44 and an optical fibre 46, to a laser and a computer.
  • the laser may be replaced by a different optical or light source, and/or the computer may be replaced by a different signal processing unit.
  • the optical or light source may be a light emitting diode or a super luminescent diode.
  • the 2D OCT scanner 24, the lens 34 and the collimator 44 are housed inside the housing 22.
  • the optical fibre 46 is connected to the collimator 44 and extends out of the housing 22.
  • Light for the OCT imaging is generated using the laser and is carried by the optical fibre 46 to the collimator 33.
  • the collimated beam is positioned by the 2D OCT scanner 24 to, through the optical relay, obtain a one-dimensional depth profile at a given point of the cervical tissue that is mechanically deformed through the suction aperture, and is steered by the 2D OCT scanner 24 along two transversal axes of the mechanically deformed cervical tissue.
  • the light backscattered from the cervical tissue then travels along the optical relay, the lens 34, the 2D OCT scanner 24 and collimator before returning to the optical fibre 46.
  • Other light sources in place of the laser are envisaged.
  • the optical information is then transmitted via the optical fibre 46 to the computer before being processed by the computer to construct a three-dimensional image of the mechanically deformed cervical tissue from the plurality of depth profiles obtained from steering the beam along two transversal axes of the mechanically deformed tissue.
  • the three-dimensional image of the mechanically deformed cervical tissue is obtained by acquiring two-dimensional cross-sectional images of the mechanically deformed cervical tissue using the 2D OCT scanner 24 and by stacking the two- dimensional cross-sectional images to construct the three-dimensional image.
  • the imaging device, the laser and the computer may form part of an OCT imaging system.
  • the vacuum conduit, the optical fibre 46 and electrical connections may be housed inside a common flexible cable.
  • an operator guides the probe member 26 through the vagina to bring the suction aperture 32 into contact with a target cervical tissue site.
  • the imaging capability of the 2D OCT scanner 24 may be used to aid the guidance of the probe member 26 to the correct location.
  • pressure inside the suction chamber 30 is controlled as described above to apply a suction that pulls the cervical tissue 48 inwards through the suction aperture 32.
  • the OCT imaging system is operated as described above to obtain a three-dimensional image of the cervical tissue 48 that is being sucked through the suction aperture 32.
  • the probe member 26 may be moved to change target cervical tissue sites in order to obtain one or more additional measurements.
  • Cancer is known to have higher stiffness than surrounding tissue.
  • the combination of the suction elastometry and the OCT imaging enables the performance of transvaginal OCT-based elastography to observe and record the mechanical behaviour of the cervical epithelial layer under suction.
  • OCT can be used to visualise part or whole of the thickness of the cervical epithelial layer where CIN lesions may appear.
  • the visualisation may be carried out over a field of view that is part or whole of the uterine cervical region.
  • the information obtained from the transvaginal elastography may be used to provide different independent indicators of CIN in the form of:
  • the endoscopy instrument 20 may be used to assess cervical cancer progression accurately and quickly, without requiring a biopsy that is invasive, more expensive, more complex and takes longer to obtain a diagnosis. If a biopsy is deemed necessary, the endoscopy instrument 20 can be used to identify a suitable sampling site for the biopsy.
  • the configuration of the suction device and 2D OCT scanner 24 to carry out their respective functions through the probe member 26 enables the in-vivo characterisation of the cervical epithelial layer to be carried out through the probe member 26 without requiring external actuators, external imaging equipment or multiple medical personnel, thus reducing cost and complexity.
  • the configuration of the invention therefore results in a transvaginal endoscopy instrument 20 with 3D imaging capability via optical coherence tomography and mechanical characterisation capability vis suction elastometry for cervical cancer screening, particularly early detection of precancerous lesions. Furthermore, if cervical cancer is diagnosed and surgical intervention is required, the invention may be used in post-surgery assessment of tumour margins.
  • transvaginal probes may be used with the invention to vary the size of the suction aperture.
  • the purpose of varying the size of the suction aperture may be to, for example, cause different mechanical behaviour of the target cervical tissue site and/or cover a cervical tissue region of a different size. It is envisaged that other type of imaging devices may be used in the above embodiments.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
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  • Radiology & Medical Imaging (AREA)
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Abstract

L'invention concerne un instrument d'endoscopie (20) pour la caractérisation in vivo de tissu. L'instrument d'endoscopie (20) comprend : une sonde (26) destinée à être insérée dans un orifice corporel et à sonder le tissu à travers l'orifice corporel ; un actionneur (30, 32) couplé de manière fonctionnelle à la sonde (26) de sorte que l'actionneur (30, 32) est actionnable pour, à travers la sonde (26), provoquer une déformation mécanique du tissu ; et un dispositif d'imagerie (24) couplé de manière fonctionnelle à la sonde (26) de telle sorte que le dispositif d'imagerie (24) peut fonctionner pour, à travers la sonde (26), obtenir une image du tissu mécaniquement déformé.
PCT/EP2020/081183 2020-11-05 2020-11-05 Instrument d'endoscopie WO2022096110A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/EP2020/081183 WO2022096110A1 (fr) 2020-11-05 2020-11-05 Instrument d'endoscopie

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Application Number Priority Date Filing Date Title
PCT/EP2020/081183 WO2022096110A1 (fr) 2020-11-05 2020-11-05 Instrument d'endoscopie

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WO2022096110A1 true WO2022096110A1 (fr) 2022-05-12

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200139092A1 (en) * 2017-04-24 2020-05-07 The General Hospital Corporation Transnasal catheter for imaging and biopsying internal luminal organs

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200139092A1 (en) * 2017-04-24 2020-05-07 The General Hospital Corporation Transnasal catheter for imaging and biopsying internal luminal organs

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