Advanced real-time 3D reconstruction for bronchoscopic navigation using miniaturized robotic endoscopes (Conference Presentation)

Endoscopy's reliance on 2D imaging limits depth perception, impeding spatial understanding during minimally invasive procedures. This has led to the development of 3D imaging techniques, particularly for bronchoscopies, where miniaturised robotic bronchoscopes explore deeper lung regions. Accurate internal airway mapping is crucial for guiding catheters and ensuring precise navigation. <br/> <br/> Our study introduces a real-time 3D reconstruction method for lung airways using a 1.8 mm robotic bronchoscope. Featuring a 350 µm polymer coherent fibre bundle with 3,500 cores, the system employs ultrafast proximal scanning and custom micro-optics. The fused silica lens focuses light patterns at a 10 mm distance, achieving a nearly 20×20 mm field of view and leveraging chromatic and depth of field variations for enhanced imaging. Lens fabrication uses two-photon polymerization and ultrafast laser-assisted etching.