A tactile sensor using the acoustic reflection principle for assessing the contact force component in laparoscopic tumor localization
A tactile sensor using the acoustic reflection principle for assessing the contact force component in laparoscopic tumor localization
复制标题
DOI：
10.1007/s11548-020-02294-w
复制
发表时间：
2021-01-03
影响因子：
3
通讯作者：
Fujiwara, Michitaka
中科院分区：
文献类型：
--
作者：
Ly, Hiep Hoang;Tanaka, Yoshihiro;Fujiwara, Michitaka
目的早期胃肿瘤的定位在传统的开放手术中很容易完成，而在微创手术中却是一个困难的过程。触觉传感器可以在腹腔镜手术中精确切除肿瘤。在管理信息系统中应确保医疗器械的安全性。此外，边界条件，如双端梁没有一个支持的刚性基础，在组织触诊几乎没有考虑。因此，我们认为，这是信息，以评估法向力和剪切力的实际肿瘤检测考虑的边界条件。方法利用声反射原理研制了一种具有法向力和切向力测量功能的触觉传感器，用于MIS中的胃肿瘤检测。所开发的触觉传感器进行了测试，使用人工体模的胃没有一个支持刚性基地，以评估术中肿瘤定位的传感器的力响应。结果所研制的传感器对人体组织是安全的，可消毒。实验结果表明，开发的触觉传感器具有测量法向力和剪切力的能力。在胃肿瘤检测试验中，传感器的剪切力比法向力更稳定，对肿瘤位置的响应性更高，这在很大程度上受到手术过程中组织弯曲的影响。结论基于声反射原理的双轴触觉传感器可用于微创手术中的组织触诊。结果表明，所开发的传感器是适用于肿瘤检测，表明所开发的传感器的剪切力信息是更有用的MIS早期胃肿瘤定位。
Purpose Localization of an early stage gastric tumor is easily performed in conventional open surgery, whereas it is a difficult procedure in minimally invasive surgery (MIS). A tactile sensor could allow precise resection of the tumor in laparoscopic surgery. The safety of medical tools should be ensured in MIS. Moreover, boundary conditions such as a double-ended beam without a supporting rigid base during tissue palpation were hardly considered. Thus, we suppose that it is informative to assess the normal force and shear force for practical tumor detection considering the boundary condition. Methods In this study, a tactile sensor with normal and shear force measurement functions using the acoustic reflection principle was developed for gastric tumor detection in MIS. The developed tactile sensor was tested using an artificial phantom of the stomach without a supporting rigid base to evaluate the force response of the sensor in intraoperative tumor localization. Results The developed sensor is safe for human tissue and can be sterilized. The experimental results show that the developed tactile sensor has the capability to measure normal and shear forces. In the gastric tumor detection test, the shear force of the sensor was more stable and highly responsive to the tumor position than the normal force, which is greatly affected by the bending of the tissue during the operation. Conclusions A two-axis tactile sensor using the acoustic reflection principle was assembled for tissue palpation in MIS. The results showed that the developed sensor is suitable for tumor detection, indicating that the shear force information of the developed sensor is more useful in MIS for early stage gastric tumor localization.