Reaction Force Mapping by 3-Axis Tactile Sensing With Arbitrary Angles for Tissue Hard-Inclusion Localization
Reaction Force Mapping by 3-Axis Tactile Sensing With Arbitrary Angles for Tissue Hard-Inclusion Localization
复制标题
通过具有任意角度的 3 轴触觉传感进行反作用力映射，用于组织硬包涵体定位
DOI：
10.1109/tbme.2020.2991209
复制
发表时间：
2021-01-01
影响因子：
4.6
通讯作者：
Ren, Hongliang
中科院分区：
文献类型：
--
作者：
Li, Tianliang;Pan, Anqi;Ren, Hongliang
虽然机器人辅助诊断和微创手术带来了显著的好处，但缺乏多维力反馈仍然是微创手术的一个值得注意的局限性和挑战。为了全面、高保真地感知组织-器械的相互作用，我们提出了一种基于光纤布拉格光栅(FBG)的三轴触觉传感技术，用于组织硬包裹体的表面反作用力映射、识别和定位。触觉传感探头由五根刻有FBG的光纤和一个力敏3D打印变形体组成。所有的纤维都以平行的方式悬浮在可变形体内部，导致每个FBG的直接压缩或拉伸。与粘贴的FBG传感器相比，这种结构可以有效地避免FBG的啁啾失效。提出了一种线性化的差分模型来标定三维力检测，增强了对非线性干扰的抵抗能力。通过离散触探和拖曳触探两种方式进行了不同大小和深度的硬包裹体识别实验。结果表明，该探头能有效地从测力图中识别出这些小的硬夹杂物的存在和位置。此外，通过任意接触角的拖拽触诊，可以准确地识别嵌入体模中的长血管。该探头的另一个新奇之处是重建了非平面组织的表面轮廓，从而进一步实现了硬包裹体识别和3D定位。对猪肾脏的体外组织触诊进一步验证了该探针在绘制表面反应力和术中定位硬包涵体方面的有效性和可行性。
Although robot-assisted diagnosis and minimally invasive surgery (MIS) brings distinct benefits, deficient multi-dimensional force feedback remains a noteworthy limitation and challenge in MIS. Aiming for a comprehensive high-fidelity perception of tissue-instrument interactions, we present a Fiber Bragg Grating (FBG)-based 3-axis tactile sensing for surface reaction force mapping, identification and localization of tissue hard-inclusion. The tactile sensing probe consists of five optical fibers inscribed with FBGs and a force-sensitive 3D printed deformable body. All fibers are suspended inside the deformable body in a parallel manner, leading to the direct compression or tension of each FBG. Such configuration can effectively avoid the chirping failure of FBG compared with the pasting FBG-based sensors. A linearized difference model is proposed to calibrate the 3-axis force detection and enhance the resistance to nonlinear interferences. Hard-inclusion identification experiments with varied hard-inclusion sizes and depths have been implemented through discrete palpation and dragging palpation modes. Results indicate that the probe can effectively identify the presence and location of these small hard-inclusions from the force mapping. Furthermore, lengthy vessels embedded in the phantom can be accurately identified through dragging palpation with an arbitrary contact angle. Another novelty of the probe is the reconstruction of the surface profile of a non-planar tissue, which further allows hard-inclusion identification and 3D localization. Ex-vivo tissue palpation on a porcine kidney further validates the effectiveness and feasibility of the probe to map surface reaction forces and localize the hard-inclusions intraoperatively.