NDLI: Evaluation of force feedback requirements for minimally invasive lung tumour localization

Content Provider	IEEE Xplore Digital Library
Author	McCreery, G.L. Trejos, A.L. Patel, R.V. Naish, M.D. Malthaner, R.A.
Copyright Year	2007
Description	Author affiliation: Canadian Surg. Technol. & Adv. Robotics (CSTAR), London (McCreery, G.L.)
Abstract	Minimally invasive surgery is a technique that provides numerous benefits to the patient, but presents challenges to the surgeon in that dexterity, hand-eye coordination and haptic perception are compromised. Robot-assisted minimally invasive approaches have addressed the problems of dexterity and coordination; however, the lack of kinesthetic and tactile feedback remains a significant drawback. Despite many advances in this area, little is currently known about what level of feedback performance is adequate to allow the surgeon to palpate tissue to detect an underlying tumour. This paper describes experiments that were conducted on ex-vivo porcine lung, using artificial tumours, to elucidate one measure of sensor performance required to detect the presence of a tumour. The results indicate that a force- sensitive probe with a sensing range of 0 to 10 N and a resolution of 0.01 N would allow a tumour to be localized via palpation using kinesthetic feedback.
Starting Page	883
Ending Page	888
File Size	793309
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399472
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force feedback Minimally invasive surgery Lungs Tumors Surges Haptic interfaces Instruments Robot kinematics Probes Intelligent robots
Content Type	Text
Resource Type	Article

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