Development of a soft-robotic catheter assisted fiber scanning microscopic imaging system

This work proposes a novel microscopic device that addresses key limitations in imaging quality and flexibility. By integrating a fiber-optic piezoelectric MEMS hybrid scanner with a shape memory polymer (SMP) catheter, the device significantly enhances image resolution, field of view (FOV), and maneuverability. The nonlinear vibration actuation, driven by 1-D push-pull actuators, enables controlled circular and spiral scanning patterns, optimizing aperture performance. The SMP-based catheter offers exceptional flexibility, allowing bending, twisting, stretching, and compressing, and features multi-stage programming for customized movements. This unique combination improves diagnostic accuracy and procedural efficiency, providing a more versatile solution for navigating complex anatomical structures, particularly for detecting early-stage tumors and assessing inflammatory diseases. The innovative design holds promise for advancing minimally invasive medical diagnostics and treatments.