NDLI: A Dual-Function Wheeled Probe for Tissue Viscoelastic Property Identification during Minimally Invasive Surgery

Content Provider	IEEE Xplore Digital Library
Author	Noonan, D.P. Hongbin Liu Zweiri, Y.H. Althoefer, K.A. Seneviratne, L.D.
Copyright Year	2007
Description	Author affiliation: Dept. of Mech. Eng., Kings Coll. London (Noonan, D.P.; Hongbin Liu)
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 ex-vivo was developed and used to characterize two different testing modalities - static (1-DOF) tissue indentation and rolling (2-DOF) tissue indentation. As part of the static indentation experiments a mathematical model was developed to classify tissue condition based on changes in mechanical response. The purpose of the rolling indentation tests was to detect tissue abnormalities, such as tumors, which are difficult to isolate under static testing conditions. During such tests, the test-rig was capable of detecting simulated miniature buried masses at depths of 12mm. Based on these experiments a portable device capable of carrying out similar tests in-vivo was developed. The device was designed to be operated through a trocar port and its key feature is the ability to transition between static indentation and rolling indentation modalities without retracting and changing the tool.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2629
Ending Page	2634
File Size	1487662
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363862
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Minimally invasive surgery Probes Viscosity Elasticity Testing Surges Haptic interfaces Feedback Mobile robots Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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