1. Motion System for
Confocal Microscopy
Design Team
Adam Afzali, Matthew Beatty, Robert
DeSanti, Duncan Freake, Joseph Zimo
Advisors
Patrick Murphy, M.S., Constantinos
Mavroidis, Ph.D., and Dana Brooks, Ph.D.
Problem Statement Mechanical Design
Acknowledgements
Automate the motion of the Vivascope 3000
confocal microscope in an effort to bring video
mosaicing technology into the forefront of in-vivo
clinical use.
Results
Further Advancements
Control Systems
Required Motion
1. Move Vivascope into
place
2. Provide stable XY scan
motion
3. Maintain normalcy in
one axis
Video Mosaicing
• Developed by MSKCC for the Vivascope 3000
• Creates large format images from procedural
videos
• Requires slow, controlled motion that is difficult
for a human to maintain
• Currently only used
on excised tissue
Example of a 12x12mm mosaic conducted on
excised tissue
Confocal Microscopy
• Confocal microscopy is a technology utilized to
non-invasively image the dermal and subdermal
layers of skin on a cellular level
• It enables doctors to more accurately diagnose
cancer than traditional dermoscopy methods
• Being handheld limits the Vivascope’s clinical use
due to long procedure times and advanced user
requirements
Hardware
• Rotational/Vertical automation
• Dermascope camera integration
Software
• Integration between device and Vivascope
software
• Live image stitching
• GUI enhancements – location marking, pause
Testing
• Locking arm validation
• Validation with clinicians at MSKCC
• Milind Rajadhyaksha, Ph.D., Kivanc Kose, Ph.D., Gary Peterson,
B.S., and the rest of the MSKCC team for their input throughout
the project
• IGUS for their donation of the XY travel system
• Bill Fox at Caliber I.D. for his advise towards modifying the
Vivascope 3000 and providing necessary equipment
• Jon Doughty for his manufacturing expertise
Northeastern University
Memorial Sloan Kettering Cancer Center
Micro Motion System
• 100mm travel in both X and Y
• Stepper motors enable travel at speeds
required for video capture
• Donated by IGUS for the project
Z-Adjustment
• Linear bearings provide smooth Z-travel
• Constant force springs counterbalance
rotational end effector for ease of operation
Rotational End Effector
• Allows Vivascope to be rotated ±40° from
vertical
• Roller carriages designed follow curved track
• Fine-tune adjustment of the calibration plate
provides accurate location of the imaging plane
relative to the center of the radius of curvature
• Load cell measures normal force applied to skin
• String potentiometer measures the angle of the
Vivascope relative to vertical
• The above photos indicate successful generation
from linear and two dimensional scan patterns
• Joystick motion control was successful in mosaic
generation
• Testing demonstrated that the system is
mechanically capable of performing tasks
necessary to generate mosaics
Images created by Vivascope
3000 controlled with the
motion system.
1mm
1mm