Tumor Depth and Size Perception Using a Pneumatic Tactile Display in Laparoscopic Surgery
Tumor Depth and Size Perception Using a Pneumatic Tactile Display in Laparoscopic Surgery
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DOI：
10.1109/access.2021.3135698
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发表时间：
2021
期刊：
影响因子：
3.9
通讯作者：
Hoang Hiep Ly;Yoshihiro Tanaka;Michitaka Fujiwara
中科院分区：
文献类型：
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作者：
Hoang Hiep Ly;Yoshihiro Tanaka;Michitaka Fujiwara
肿瘤的位置、深度和大小是肿瘤切除手术的基本信息。在开放手术中，外科医生可以通过用手指触摸组织来获得信息。在自然触觉受到限制的微创手术中，外科医生可以依靠触觉设备提供的触觉信息来确定肿瘤特征。触觉反馈是一种很有前途的表示方式，用于在组织触诊期间直观地向外科医生提供触觉信息。在本文中，我们提出了一种触诊策略，使用触觉反馈来确定肿瘤的深度和大小。对于触诊策略，通过在传感器的给定压痕深度处检测肿瘤的存在来确定肿瘤深度。肿瘤大小可以通过定位肿瘤边缘来获得。进行了基础实验，以研究使用接触力分量确定肿瘤特征，使用所提出的策略。结果表明，法向力对压痕深度的估计更有效，而剪切力对肿瘤区域和边缘的检测更有效。通过组织触诊任务证明了用户使用我们开发的触觉显示器的触觉反馈来表征肿瘤的能力。接受法向力和剪切力反馈的参与者可以分别以66%和65%的准确率识别嵌入肿瘤的深度和大小。这些结果表明，触觉显示，提供正常和剪切力反馈，可以成功地用于肿瘤表征。
Tumor location, depth, and size are essential information for tumor resection surgery. In open surgery, surgeons can obtain information by palpating the tissue with their fingers. In minimally invasive surgery, where the natural sense of touch is restricted, surgeons can rely on haptic information provided by haptic devices to determine the tumor characteristics. Tactile feedback is a promising representation modality for providing haptic information intuitively to surgeons during tissue palpation. In this paper, we propose a palpation strategy using tactile feedback to determine the tumor depth and size. For the palpation strategy, the tumor depth was determined by detecting the presence of the tumor at a given indentation depth of the sensor. Tumor size may be obtained by localizing the tumor edges. Fundamental experiments were conducted to investigate the use of contact force components in determining tumor features using the proposed strategy. The results indicated that the normal force is more useful in estimating the indentation depth, and the shear force is highly effective in detecting tumor regions and edges. Users’ ability to characterize the tumor using tactile feedback from our developed tactile display was demonstrated through tissue palpation tasks. Participants who received both normal force and shear force feedback could identify the depth and size of the embedded tumor with 66 % and 65 % accuracy, respectively. These results suggest that tactile displays that provide normal and shear force feedback can be successfully used for tumor characterization.