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Contributed by Watt W. Webb, September 7, 2011 (sent for review April 28, 2011)
We present a compact and flexible endoscope (3-mm outer dia- their miniaturized dimensions (e.g., o:d: ≈ 1 mm) and fast image
meter, 4-cm rigid length) that utilizes a miniaturized resonant/non- acquisition speeds [e.g., 8 frames∕s with 512 × 512 pixels per
resonant fiber raster scanner and a multielement gradient-index frame, approximately 200-μm diameter field-of-view (FOVxy )]
lens assembly for two-photon excited intrinsic fluorescence and (14); however, these resonant devices are fundamentally limited
second-harmonic generation imaging of biological tissues. The by nonuniform spatial coverage and sampling time in comparison
miniaturized raster scanner is fabricated by mounting a commercial to current miniaturized raster scanners. Current miniaturized
double-clad optical fiber (DCF) onto two piezo bimorphs that are raster scanners are, however, limited in terms of their physical
aligned such that their bending axes are perpendicular to each dimensions and/or scan speeds. Le Harzic et al. previously de-
other. Fast lateral scanning of the laser illumination at 4.1 frames∕s monstrated a piezo-driven X-Y scanner (length ¼ 34 mm,
(512 lines per frame) is achieved by simultaneously driving the DCF width ¼ 1.9 mm) capable of a uniformly sampled FOVxy up to
cantilever at its resonant frequency in one dimension and nonre- 420 μm by 420 μm, but this device is limited by its frame rate
sonantly in the orthogonal axis. The implementation of a DCF into (i.e., 0.1 frames∕s with 512 × 512 pixels per frame) (19). Slow
the scanner enables simultaneous delivery of the femtosecond image acquisition speeds are not ideal because of the motion
pulsed 800-nm excitation source and epi-collection of the signal. artifacts typically faced in real-time in vivo clinical imaging envir-
Our device is able to achieve a field-of-view (FOVxy ) of 110 μm by onments. Additionally, although 2D MEMS scanning mirrors
110 μm with a highly uniform pixel dwell time. The lateral and axial with miniature dimensions (e.g., 750 μm × 750 μm mirror size)
resolutions for two-photon imaging are 0.8 and 10 μm, respec- have recently demonstrated fast line acquisition rates on the
tively. The endoscope’s imaging capabilities were demonstrated order of 1–3 kHz, the overall miniaturization of these MEMS
by imaging ex vivo mouse tissue through the collection of intrinsic scanners (i.e., their probe o.d.s) is limited by the die size of the
fluorescence and second-harmonic signal without the need for actuator, which is typically 3 mm × 3 mm (24, 25).
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staining. The results presented here indicate that our device can be Here, we present an endoscope that utilizes a miniaturized
applied in the future to perform minimally invasive in vivo optical resonant/nonresonant cantilever fiber raster scanner design that
biopsies for medical diagnostics. is compact (width∕thickness ≤ 1 mm, total length ≈ 2.6 cm),
achieves ≥650 μm fiber-tip deflection for both the resonant
nonlinear optical endoscopy ∣ real-time optical diagnosis ∣ scanning fiber and nonresonant axes, and allows for imaging at approximately
endoscopy ∣ microendoscopy ∣ endogenous fluorescence 4.1 frames∕s (512 × 512 pixels). The fiber scanner’s small dimen-
sions enable it to be packaged along with a miniaturized high
N.A. gradient-index (GRIN) assembly to form a compact and
M ultiphoton imaging techniques such as two-photon fluores-
cence (TPF) and second-harmonic generation (SHG)
microscopy hold great promise for the future of medical diagnosis
flexible TPF/SHG endoscope, with an outside diameter of 3 mm
and a rigid length of 4 cm. The temporal pulse widths at different
because of their potential to replace surgical biopsies with mini- endoscope output powers were characterized as well as the ima-
mally invasive optical diagnosis of tissue health (1–7). In a clinical ging resolution of the device. Finally, we demonstrate that our
setting, these diagnostic techniques will be capable of acquiring multiphoton endoscope prototype is able to obtain ex vivo tissue
real-time, high-resolution, in vivo images without the need for images solely based on intrinsic fluorescence and SHG signal.
contrast agents. However, a challenge in translating these bene- These results show the potential for our endoscope prototype
ficial imaging technologies into the clinic lies in successfully to be used as a real-time in vivo diagnostic tool for medical diag-
miniaturizing bulky tabletop microscope components into a com- nostics.
pact probe without degrading the overall imaging performance of
the system. These microendoscopes would not only have the Results and Discussion
potential to be used as diagnostic tools capable of early cancer Miniaturized Raster Scanner. The miniaturized fiber raster scanner
detection, but could also be used for such applications as photo- is driven by high-performance two-layer piezoelectric actuators
dynamic therapy and microsurgery (8, 9). or bimorphs (T215-A4CL, Piezo Systems, Inc.). These bimorphs
A number of groups have demonstrated miniaturized instru- are suitable for the fabrication of a miniaturized scanning
ments capable of confocal, optical coherence tomography mechanism because of their small dimensions (e.g., width ¼
(OCT), TPF, and SHG imaging (10–25). The primary constitu- 0.5–1 mm, thickness ¼ 380 μm) and ability to achieve deflection
ents of these devices are typically a miniaturized scanning me-
chanism and lens assembly that is encapsulated in a protective Author contributions: D.R.R., C.M.B., W.W.W., and C.X. designed research; D.R.R., C.M.B.,
housing with dimensions suitable for minimally invasive proce- D.G.O, and I.P. performed research; D.R.R., C.M.B., D.G.O., D.K., W.W.W., and C.X. analyzed
dures (i.e., a probe outer diameter on the order of a few milli- data; and D.R.R., C.M.B., W.W.W., and C.X. wrote the paper.
meters with a rigid length of several centimeters). Within these The authors declare no conflict of interest.
microendoscopes, various distal miniaturized scanners have been Freely available online through the PNAS open access option.
demonstrated, including resonant-based [e.g., Lissajous (10, 11) 1
D.R.R. and C.M.B. contributed equally to this work.
or spiral (12–16) scan pattern] and non-resonant-based cantilever 2
To whom correspondence may be addressed. E-mail: drr66@cornell.edu or www2@
fiber scanners (16–19) as well as microelectromechanical systems cornell.edu.
(MEMS) scanning mirrors (20–25). Of these scanners, the reso- This article contains supporting information online at www.pnas.org/lookup/suppl/
nant-based spiral scanners are the most successful in terms of doi:10.1073/pnas.1114746108/-/DCSupplemental.
APPLIED PHYSICAL
in close agreement with the theoretical prediction of 1.1 kHz. A
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3-mm length piezo bimorph was sufficient to provide a fiber-tip
deflection range of over 1 mm at a peak-to-peak drive voltage
(Vpp) of 50 V.
In order to achieve large nonresonant fiber-tip deflection,
while minimizing the overall rigid length of the cantilever, we
optimized the active length of the nonresonant piezo bimorph
using the following equation:
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2
V applied
D ¼ 2cðL1 þ 2L1 L2 Þ × ;
V spec
Rivera et al. PNAS ∣ October 25, 2011 ∣ vol. 108 ∣ no. 43 ∣ 17599
of the initial laser output as well as at 50-mW output from our
endoscope. We are able to achieve a 290-fs pulse width at 50-mW
output from the core of the DCF. The measured optical spectra
are shown in Fig. 2B. The characteristic spectrum narrowing
due to the optical nonlinearity and the normal dispersion of the
fiber is clearly visible. Fig. 2C shows the measured pulse widths
over a range of endoscope power outputs. These results are in
close agreement with numerical simulations based on the non-
linear Schrodinger’s equation (28).
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width deviation of 7.5%. (C) Cropped and postprocessed Ronchi ruling image from Fig. 4A (FOVxy ≈110 μm × 110 μm). The Ronchi ruling lines in C are cor-
rected to be of uniform width across the image FOVxy . (D) Cropped and postprocessed transmission image of USAF test target group 6, elements 2–3 (line
widths: 7.0 to 6.2 μm, FOVxy ≈110 μm × 110 μm).
piezos). The repeatability of the scan pattern enables us to devel- ferent depths where anatomical details such as the alveolar walls
op an image remapping algorithm to correct the original unpro- and lumens are visible; see Movie S2 for full depth scan. Fig. 5C
cessed Ronchi ruling image (see Fig. 4C for the corrected Ronchi shows five frame-averaged images at three different axial depths
ruling image), which can then be applied to correct subsequently
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Rivera et al. PNAS ∣ October 25, 2011 ∣ vol. 108 ∣ no. 43 ∣ 17601
of the two-photon excited intrinsic fluorescence from ex vivo
mouse colon tissue; see Movie S3 for full depth scan. Mouse
colon tissue consists of closely packed tubular glands (crypts)
covered by a layer of columnar absorptive cells and mucus secret-
ing goblet cells. The cellular structures in Fig. 5C represent the
intrinsic fluorescence emitted from these epithelial cells. The
morphological details present in the unstained images displayed
in Fig. 5 indicate that our prototype shows potential for future
clinical use. No tissue damage was observed during the course of
the ex vivo imaging session, and the imaging conditions were
comparable to those shown by other investigators to have negli-
gible tissue mutagenicity (29).
For comparison, we imaged two-photon excited intrinsic fluor-
escence from ex vivo mouse tissue using a commercial multi-
photon microscope (Fluoview FV1000D, Olympus). Fig. 6 shows
unstained images acquired from both systems at comparable
depths within the tissue. This figure was obtained with compar-
able amounts of two-photon excited fluorescence at the sample Fig. 6. Imaging comparison between the multiphoton endoscope and a
per frame in each system. These images demonstrate that the commercial multiphoton microscope. (A) Unaveraged intrinsic fluorescence
multiphoton endoscope is capable of acquiring images of anato- images of ex vivo mouse lung. A1 shows the image acquired from the multi-
mical features that are similar in appearance to those obtained photon endoscope, and A2 shows the image acquired from the Olympus
from a conventional multiphoton microscope. multiphoton microscope. (B) Five frames averaged intrinsic fluorescence
images of ex vivo mouse colon. B1 shows the image acquired from the multi-
Conclusions and Outlook. In summary, we have demonstrated a photon endoscope, and B2 shows the image acquired from the Olympus
compact and flexible raster scanning microendoscope capable multiphoton microscope. Scale bars, 10 μm. Comparable amounts of two-
photon excited fluorescence at the sample per frame were maintained in
of acquiring TPF and SHG images at 4.1 frames∕s with a FOVxy
each system. The displayed images were acquired with 800-nm excitation
of 110 μm × 110 μm. The uniform pixel dwell time across this and a FOVxy of approximately 110 μm × 110 μm.
field of view enables our prototype to obtain ex vivo tissue images
solely from intrinsic fluorescence and SHG signal with minimal
within the tissue. Image acquisition is done with the multiphoton microscope
frame averaging. Though further experimentation is necessary to software MPScan (30) and stored as MPView files. MPView files are then ex-
confirm the probe’s effectiveness as a cancer diagnostic tool, the ported to Matlab and the public domain program Image J for data analysis
ability of our device to acquire subcellular resolution, label-free and image processing.
images at fast image acquisition rates shows great potential for
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translating our endoscope into a minimally invasive probe cap- Mouse Sample Processing. Adult CD-1 mice were obtained from Charles River
able of real-time in vivo imaging in the clinical setting. Laboratories (Charles River Laboratories International, Inc.) and euthanized
by carbon dioxide asphyxiation. The organs of interest (a lung lobe and a
Materials and Methods segment of the colon) were dissected, visually inspected for abnormalities,
Endoscopic Imaging Setup. In this setup (Fig. 1D), a mode-locked Ti:Sapphire and kept in chilled PBS until imaging. A normal-appearing deflated lung
laser (MaiTai, Newport) is used as the excitation source. The femtosecond lobe was selected from a mouse and imaged at various depths, sampling
excitation pulses at 800-nm wavelength are precompensated for fiber disper-
the respiratory zone of the lung tissue (intact alveoli, see Fig. 5B). A short
sion by using a rotating cylindrical lens and grating (28) prior to being
(approximately 0.5–1 cm) segment of the mouse colon was obtained and
coupled into the core of the 1-m-long double-clad optical fiber. The distal
cut open to allow direct imaging of the inner (epithelial) lining of the colon
end of the DCF is mounted onto our resonant/nonresonant scanner, which
sweeps the fiber tip in a raster pattern across the back aperture of the multi- (see Fig. 5C). In addition, collagen fibers were removed from a mouse tail (see
element GRIN lens assembly. The resonant axis is scanned at a frequency of Fig. 5A). Each imaging sample was embedded in agarose gel, plated on a
1.05 kHz, and the nonresonant axis is scanned at 4.1 frames∕s, enabling fast standard glass microscope slide, kept immersed in PBS, and imaged within
2D lateral scanning. The GRIN assembly functions as a 0.8-N.A. water immer- 1 h of euthanasia. All animal housing and experimentation was performed
sion objective with a measured 135-μm working distance and provides a 4 in accordance with the animal welfare guidelines of the Institutional Animal
.8× demagnification (Fig. 1C), see SI Text for additional details of the GRIN Care and Use Committee.
assembly working distance characterization. For TPF and SHG imaging, the
excited signal is epi-collected through the GRIN assembly to the core and in- ACKNOWLEDGMENTS. We thank members of the Xu and Webb research
ner cladding of the DCF. Signal transmitted through the DCF is then reflected groups for discussions and technical suggestions. We thank Dr. Douglas
by a 705-nm dichroic beam splitter (FF705-Di01-25 × 36, Semrock) and deliv- Scherr and Dr. Sushmita Mukherjee of Weill Cornell Medical College for
ered to a two-channel detection system composed of two ultra bi-alkali valuable discussions and suggestions. We also thank Charlotte E. Egan, PhD,
(R7600U-200, Hamamatsu) photomultiplier tubes (PMTs). A 405-nm dichroic Research Associate, Cornell University, Department of Microbiology and
beam splitter (Di01-R405-25 × 36, Semrock) is positioned in the emission path Immunology for helping identify anatomical structures in the ex vivo tissue
at 45° between the two PMTs to separate the SHG and autofluorescence images. Our project was supported by National Institutes of Health/National
imaging channels. The ex vivo images were acquired by rigidly mounting Cancer Institute Grant R01-CA133148 and National Institutes of Health/
the endoscope, mounting tissue samples on a microscope stage, and manip- National Institute of Biomedical Imaging and Bioengineering Grant R01-
ulating the stage position at 5 μm to acquire images at different axial depths EB006736, “Development of Medical Multiphoton Microscopic Endoscopy.”
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APPLIED PHYSICAL
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Rivera et al. PNAS ∣ October 25, 2011 ∣ vol. 108 ∣ no. 43 ∣ 17603