Discretely Loaded Beam-Type Optical Fiber Tactile Sensor for Tissue Manipulation and Palpation in Minimally Invasive Robotic Surgery
Discretely Loaded Beam-Type Optical Fiber Tactile Sensor for Tissue Manipulation and Palpation in Minimally Invasive Robotic Surgery
复制标题
DOI：
10.1109/jsen.2011.2113394
复制
发表时间：
2012-01-01
影响因子：
4.3
通讯作者：
Cecere, Renzo
中科院分区：
文献类型：
--
作者：
Ahmadi, Roozbeh;Packirisamy, Muthukumaran;Cecere, Renzo
在传统的开放手术中，外科医生使用他们的指尖触诊来调查组织中隐藏的解剖结构。然而，在目前市售的微创机器人手术（MIRS）系统中，当手术器械与组织相互作用时，外科医生感觉不到任何触觉信息。因此，需要将触觉传感器集成到手术器械的尖端，以模仿外科医生指尖的感知。目前存在的基于电的触觉传感器通常不能在静态负载条件下工作。此外，它们与磁共振成像（MRI）设备不兼容。因此，本研究旨在通过开发一种与MRI兼容的光纤触觉传感器来恢复触觉信息。传感器仅由一个单一的运动部件组成。由于这种新颖的设计，传感器不需要使用一组传感器来测量分布的触觉信息。这种能力简化了传感器集成到手术器械尖端的任何合适空间。此外，该传感器在静态和动态加载条件下均能正常工作。建立了传感器的理论模型和传感器与组织相互作用的有限元模型。为了验证传感器的有效性，制作了传感器的原型并进行了测试。
In traditional open surgery, surgeons use their fingertip palpation to investigate the hidden anatomical structures of tissue. However, in the current commercially available minimally invasive robotic surgery (MIRS) systems, while surgical instruments interact with tissues, surgeons do not sense any tactile information. Therefore, tactile sensors are required to be integrated into the tips of surgical instruments to mimic the perception of the surgeon's fingertips. The electrically based tactile sensors that exist at present cannot usually operate under static loading conditions. In addition, they are not compatible with magnetic resonance imaging (MRI) devices. Therefore, this research was aimed at restoring tactile information by developing an MRI compatible optical fiber tactile sensor. The sensor consists of only one single moving part. Thanks to this novel design, the sensor does not require the use of an array of sensors to measure the distributed tactile information. This capability simplifies the integration of the sensor into any suitable space available at the tips of surgical instruments. In addition, the sensor performs under both static and dynamic loading conditions. A theoretical model of the sensor and a finite-element model of the sensor-tissue interaction were developed. To validate the sensor, a prototype of the sensor was fabricated and tested.