Abstract

In this study we report the integration of an all-optical ultrasound probe and robotic manipulator. The all-optical ultrasound probe comprised two optical fibres, a MWCNT/PDMS composite coated multimode fibre for ultrasound generation, and a concave Fabry-Pérot fibre optic hydrophone for ultrasound reception. The ultrasound probe generated pressures in excess of 2 MPa at 1.5 mm, with a corresponding 6 dB bandwidth of ca. 30 MHz. The probe was built into a rigid endoscope (outer diameter: 5 mm, length: 300−mm) and mounted on a robotic manipulator. Ultrasound A-lines were acquired during robot manipulation in order to reconstruct a 3D image which was displayed as a point cloud. Large area images (80 × 80 mm) of a tissue mimicking gel wax phantom where acquired and displayed in real-time. This work demonstrates the potential for integrating miniature fibre optic ultrasound devices with robotics.

© 2019 SPIE/OSA