Flexible end-effector integrated with scanning actuator and optical waveguide for endoscopic fluorescence imaging diagnosis

This paper presents a flexible end-effector integrated with a scanning actuator and optical waveguide for endoscopic fluorescence imaging diagnosis. The tiny and functional end-effector can also be introduced into the abdominal cavity or the digestive tract. Pneumatic balloon actuator (PBA) is used as the scanning actuator for the end-effector in consideration of its soft and safe features. SU-8 optical waveguides are integrated onto the PBA structure made of polydimethylsiloxane (PDMS). The excitation light (404 nm) is transmitted through an optical fiber to the waveguides. The outgoing light is scanned by the bending motion of PBA. The waveguide works as a detector as well. Our developed device has successfully scanned, excited, and detected fluorescence beads (515 nm) distributed in a pseudo tissue.