Tactile sensor using acoustic reflection for lump detection in laparoscopic surgery
Tactile sensor using acoustic reflection for lump detection in laparoscopic surgery
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DOI：
10.1007/s11548-014-1067-z
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发表时间：
2015-02-01
影响因子：
3
通讯作者：
Sano, Akihito
中科院分区：
文献类型：
--
作者：
Tanaka, Yoshihiro;Fukuda, Tomohiro;Sano, Akihito
腹腔镜手术限制了外科医生的触觉。触觉传感器可以通过肿块检查在腹腔镜手术中实时检测肿瘤。本研究的目的是开发一种简单的和生物相容性的触觉传感器腹腔镜手术。该触觉传感器具有类似钳子的形状，在组织接触区域没有电气元件，并且可以消毒和清洁。它由带扬声器和麦克风的手柄、铝管和带可变形弹性腔的传感器尖端组成。管中的声波是输入波和在封闭边缘处反射的两个波的叠加，以及由于与物体接触而变形产生的投影。通过测量管道中的声波，得到管道变形的信息，建立传感器模型，分析输出，确定传感器的设计参数。然后，组装传感器的原型。基础实验表明，传感器输出随法向变形的增加而增加。此外，使用0-IIc型肿瘤（最常见的早期胃癌）的胃壁模型的实验表明，当传感器在肿瘤的背面移动时，获得了大的传感器输出。理论和实验结果表明，传感器对由于与物体接触而产生的变形敏感，并具有在腹腔镜手术中检测肿块的潜力。
Laparoscopic surgery limits a surgeon's tactile sense. A tactile sensor could allow real-time tumor detection in laparoscopic surgery through lump inspection. This study was aimed at developing a simple and biocompatible tactile sensor for laparoscopic surgery. The proposed tactile sensor has a forceps-like shape, has no electrical elements in the tissue contact area, and can be sterilized and cleaned.We developed a tactile sensor using acoustic reflection. It is composed of a handle with a speaker and a microphone, an aluminum tube, and a sensor tip with a deformable elastic cavity. The acoustic wave in the tube is the superposition of the input wave and two waves reflected at the closed edge and the projection generated by deformation due to contact with an object. By measuring the acoustic wave in the tube, information of the deformation is derived.The sensor is modeled, and the output is analyzed to determine design parameters of the sensor. Then, a prototype of the sensor is assembled. Fundamental experiments show that the sensor output increases with increasing normal deformation. Moreover, experiments using a phantom of the stomach wall with a 0-IIc type tumor (most common early stage gastric cancer) show that large sensor output is obtained for the lump when the sensor is moved across the back surface of the tumor.The theoretical and experimental results show that the sensor is sensitive to the deformation due to contact with an object and has the potential to detect a lump in laparoscopic surgery.