2007
DOI: 10.1109/robot.2007.363862
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A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification during Minimally Invasive Surgery

Abstract: This paper proposes a novel approach for the identification of tissue properties in-vivo using a force sensitive wheeled probe. The purpose of such a device is to compensate a surgeon for a portion of the loss of haptic and tactile feedback experienced during robotic-assisted minimally invasive surgery. Initially, a testing facility for validating the concept exvivo was developed and used to characterize two different testing modalities -static (1-DOF) tissue indentation and rolling (2-DOF) tissue indentation.… Show more

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Cited by 35 publications
(22 citation statements)
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“…These sensors were used for different kinds of measurements, such as blood pressure, oxygen level, blood flow, blood velocity and others. They make use of several sensing principles, such as strain-gauges [8], piezoresistivity [9], PVDF films [1] and fibre-optic technology [10], [11], [15]. However, only a small number of sensors were developed for the detection of contact forces between the catheter and tissue [12], [13].…”
Section: Force Feedback In Cardiac Catheterizationmentioning
confidence: 99%
“…These sensors were used for different kinds of measurements, such as blood pressure, oxygen level, blood flow, blood velocity and others. They make use of several sensing principles, such as strain-gauges [8], piezoresistivity [9], PVDF films [1] and fibre-optic technology [10], [11], [15]. However, only a small number of sensors were developed for the detection of contact forces between the catheter and tissue [12], [13].…”
Section: Force Feedback In Cardiac Catheterizationmentioning
confidence: 99%
“…Sensing modalities look to exploit various underlying properties that pertain to tissue health. Alteration of tissue mechanical properties with pathology has been assessed intraoperatively through direct mechanical contact measurement (Zbyszewski et al, 2009, Noonan et al, 2007 and ultrasound based elastography techniques (Gao et al, 1996, Elias et al, 2011. Palmeri and Nightingale (2011) discuss some of the issues associated with elastography, with the challenges of applying repeatable physical stimulation and quantitatively interpreting data through a suitable mathematical model being shared throughout mechanical characterisation modalities.…”
Section: Introductionmentioning
confidence: 99%
“…The soft object stiffness 3D haptic data which is used for the purposes of this paper comes from the rolling/sliding indentation method introduced by [6], [23]- [25] to detect tissue abnormalities.…”
Section: Rigid Tool / Soft Object Interactionmentioning
confidence: 99%
“…All of the nodules were buried at a depth of 6 mm; this distance was measured from the top of the each nodule to the silicone surface. To obtain a rolling/sliding stiffness map [6], [23]- [25], 59 straight-line trajectories (121 mm long and parallel to the x-axis with a interval of 4 mm between trajectories along the y-axis) were defined. A robot arm (Mitsubishi RV-6SL 6-DOFrobotic manipulator with a positioning accuracy of 0.01 mm) was programmed to move attached the rolling indentation probe along these 59 straight-line trajectories at a speed of 30 mm/s with a constant rolling indentation depth.…”
Section: Measuring Soft Object Stiffness Distributionmentioning
confidence: 99%