NDLI: Fiber optics tactile array probe for tissue palpation during minimally invasive surgery

Content Provider	IEEE Xplore Digital Library
Author	Hui Xie Hongbin Liu Shan Luo Seneviratne, L.D. Althoefer, K.
Copyright Year	2013
Description	Author affiliation: Dept. of Inf., Centre for Robot. Res., London, UK (Hui Xie; Hongbin Liu; Shan Luo; Seneviratne, L.D.; Althoefer, K.)
Abstract	This paper presents a novel fiber optic tactile probe designed for tissue palpation during minimally invasive surgery (MIS). The probe consists of 3×4 tactile sensing elements at 2.6mm spacing with a dimension of 12×18×8 $mm^{3}$ allowing its application via a 25mm surgical port. Each tactile element converts the applied pressure values into a circular image pattern. The image patterns of all the sensing elements are captured by a camera attached at the proximal end of the sensor system. Processing the intensity and the area of these circular patterns allows the computation of the applied pressure across the sensing array. Validation tests show that each sensing element of the tactile probe can measure forces from 0 to 1N with a resolution of 0.05 N. The proposed sensing concept is low cost, lightweight, sterilizable, easy to be miniaturized and compatible for magnetic resonance (MR) environments. Experiments using the developed sensor for tissue abnormality detection were conducted. Results show that the proposed tactile probe can accurately and effectively detect nodules embedded inside soft tissue, demonstrating the promising application of this probe for surgical palpation during MIS.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2539
Ending Page	2544
File Size	1500875
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696714
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optical fibers Force Optical fiber sensors Robot sensing systems Probes Surgery MR compatible palpation probe tactile sensor optical fiber array
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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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