NDLI: Rolling Indentation Probe for Tissue Abnormality Identification During Minimally Invasive Surgery

Content Provider	IEEE Xplore Digital Library
Author	Hongbin Liu Jichun Li Xiaojing Song Seneviratne, L.D. Althoefer, K.
Copyright Year	2004
Abstract	This paper presents a novel optical fiber-based rolling indentation probe designed to measure the stiffness distribution of a soft tissue while rolling over the tissue surface during minimally invasive surgery. By fusing the measurements along rolling paths, the probe can generalize a mechanical image to visualize the stiffness distribution within the internal tissue structure. Since tissue abnormalities are often firmer than the surrounding organ or parenchyma, a surgeon then can localize abnormalities by analyzing the image. The performance of the developed probe was validated using simulated soft tissues. Results show that the probe can measure both force and indentation depth accurately with different orientations when the probe approached and rolled on the tissue surface. In addition, experiments for tumor, identification through rolling indentation were conducted. The size and embedded depth of the tumor, as well as the stiffness ratio between the tumor and tissue, were varied during tests. Results demonstrate that the probe can effectively and accurately identify the embedded tumors.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	450
Ending Page	460
Page Count	11
File Size	1153866
File Format	PDF
ISSN	15523098
Volume Number	27
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Probes Tumors Force Surgery Biological tissues Optical sensors robot sensing systems Cancer detection force feedback medical robotics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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