A Minimally Invasive Robotic Tissue Palpation Device
A Minimally Invasive Robotic Tissue Palpation Device
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DOI：
10.1109/tbme.2024.3357293
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发表时间：
2024-06-01
影响因子：
4.6
通讯作者：
Kim，Jinho
中科院分区：
文献类型：
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作者：
Mir，Mohammad;Chen，Jiawen;Kim，Jinho
机器人辅助的微创手术仍然受到缺乏触觉反馈的限制，外科医生通常依赖触觉反馈来评估组织硬度。这种限制阻碍了外科医生的能力，以识别和治疗异常组织，如肿瘤，在机器人surgery.MethodsTo解决这一挑战，我们开发了一种机器人组织触诊设备能够快速和非侵入性量化软组织的刚度，使外科医生在微创手术过程中作出客观和数据驱动的决定。我们评估了我们的设备的有效性，通过测量的phantomy以及肺，心脏，肝脏，和皮肤组织从大鼠和swines.ResultsResults获得的刚度表明，我们的设备可以准确地确定组织刚度和识别肿瘤模拟。具体而言，在猪肺中，我们分别在2、25和45 cm H2O的不同肺内压（PIP）下测定了9.1 ± 2.3、16.8 ± 1.8和26.0 ± 3.6 kPa的弹性模量（E）值。使用我们的设备，我们成功地找到了一个2厘米的肿瘤模拟嵌入在肺胸膜下区域的深度为5毫米。此外，我们分别测量了猪心脏、肝脏、腹部皮肤和肌肉的E值为33.0 ± 5.4、19.2 ± 2.2、33.5 ± 8.2和22.6 ± 6.0 kPa，这与现有文献数据非常匹配。作为独立的或集成到现有机器人手术系统中的附加工具，以通过实现对异常组织的准确术中识别来增强治疗效果。
ObjectiveRobot-assisted minimally invasive surgery remains limited by the absence of haptic feedback, which surgeons routinely rely on to assess tissue stiffness. This limitation hinders surgeons’ ability to identify and treat abnormal tissues, such as tumors, during robotic surgery.MethodsTo address this challenge, we developed a robotic tissue palpation device capable of rapidly and non-invasively quantifying the stiffness of soft tissues, allowing surgeons to make objective and data-driven decisions during minimally invasive procedures. We evaluated the effectiveness of our device by measuring the stiffness of phantoms as well as lung, heart, liver, and skin tissues obtained from both rats and swine.ResultsResults demonstrated that our device can accurately determine tissue stiffness and identify tumor mimics. Specifically, in swine lung, we determined elastic modulus (E) values of 9.1 ± 2.3, 16.8 ± 1.8, and 26.0 ± 3.6 kPa under different internal pressure of the lungs (PIP) of 2, 25, and 45 cmH2O, respectively. Using our device, we successfully located a 2-cm tumor mimic embedded at a depth of 5 mm in the lung subpleural region. Additionally, we measuredEvalues of 33.0 ± 5.4, 19.2 ± 2.2, 33.5 ± 8.2, and 22.6 ± 6.0 kPa for swine heart, liver, abdominal skin, and muscle, respectively, which closely matched existing literature data.Conclusion/SignificanceResults suggest that our robotic palpation device can be utilized during surgery, either as a stand-alone or additional tool integrated into existing robotic surgical systems, to enhance treatment outcomes by enabling accurate intraoperative identification of abnormal tissue.