Tactile tracking of arteries in robotic surgery
Tactile tracking of arteries in robotic surgery
复制标题
机器人手术中动脉的触觉追踪
DOI：
10.1109/robot.2002.1014309
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
R. Howe
中科院分区：
文献类型：
--
作者：
Ryan A. Beasley;R. Howe
在微创手术中，定位隐藏在浅表组织下方的动脉可能是一项艰巨的任务。本文报告了一种利用触觉传感寻找动脉路径的系统的开发。外科医生首先使用手术机器人将触觉传感器仪器放置在已知的动脉位置上。信号处理算法根据动脉的脉动压力变化来定位动脉。然后，自适应外推算法根据之前的测量结果生成动脉的预测位置。移动到预测位置后，如果未找到动脉，则回溯机制会将传感器移向先前检测到的位置。动脉模型测试显示，对于曲率小至 80 毫米的圆弧具有良好的跟踪能力，尽管系统的顺应性问题会导致偶尔丢失动脉路径。初步测试表明能够经皮追踪人类手腕的桡动脉。
Locating arteries hidden beneath superficial tissue can be a difficult task in minimally invasive surgery. This paper reports the development of a system that finds the paths of arteries using tactile sensing. The surgeon begins by using the surgical robot to place the tactile sensor instrument on a known artery location. Signal processing algorithms locate the artery from its pulsatile pressure variation. An adaptive extrapolation algorithm then generates predicted locations for the artery based on previous measurements. After moving to the predicted location, if the artery is not located then a backtracking mechanism moves the sensor towards previously detected locations. Tests with model arteries show good tracking ability for circular arcs with curvatures as small as 80 mm, although problems with compliance in the system result in occasional loss of the artery path. Preliminary tests demonstrate the ability to transcutaneously track the radial artery in the human wrist.