NDLI: Endoscopic add-on stiffness probe for real-time soft surface characterisation in MIS

Content Provider	IEEE Xplore Digital Library
Author	Faragasso, A. Stilli, A. Bimbo, J. Noh, Y. Liu, H. Nanayakkara, T. Dasgupta, P. Wurdemann, H.A. Althoefer, K.
Copyright Year	2014
Description	Author affiliation: Centre for Robot. Res., King's Coll. London, London, UK (Faragasso, A.; Stilli, A.; Bimbo, J.; Noh, Y.; Liu, H.; Nanayakkara, T.; Wurdemann, H.A.; Althoefer, K.) \|\| Dept. of Urology, King's Coll. London, London, UK (Dasgupta, P.)
Abstract	This paper explores a novel stiffness sensor which is mounted on the tip of a laparoscopic camera. The proposed device is able to compute stiffness when interacting with soft surfaces. The sensor can be used in Minimally Invasive Surgery, for instance, to localise tumor tissue which commonly has a higher stiffness when compared to healthy tissue. The purely mechanical sensor structure utilizes the functionality of an endoscopic camera to the maximum by visually analyzing the behavior of trackers within the field of view. Two pairs of spheres (used as easily identifiable features in the camera images) are connected to two springs with known but different spring constants. Four individual indenters attached to the spheres are used to palpate the surface. During palpation, the spheres move linearly towards the objective lens (i.e. the distance between lens and spheres is changing) resulting in variations of their diameters in the camera images. Relating the measured diameters to the different spring constants, a developed mathematical model is able to determine the surface stiffness in real-time. Tests were performed using a surgical endoscope to palpate silicon phantoms presenting different stiffness. Results show that the accuracy of the sensing system developed increases with the softness of the examined tissue.
Sponsorship	IEEE Eng. Med. Biol. Soc.
Starting Page	6517
Ending Page	6520
File Size	5351759
Page Count	4
File Format	PDF
ISBN	9781424479290
ISSN	1557170X
DOI	10.1109/EMBC.2014.6945121
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Springs Minimally invasive surgery Mathematical model Force Sensors
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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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