PALPABLE: Multi-sensing Tool For Minimally Invasive Surgery

PALPABLE：用于微创手术的多传感工具

• 批准号: 10064037
• 金额: $ 72.21万
• 依托单位: QUEEN MARY UNIVERSITY OF LONDON
• 依托单位国家: 英国
• 项目类别: EU-Funded
• 财政年份: 2023
• 资助国家: 英国
• 起止时间: 2023 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=10064037
• 关键词: PALPABLE; Multi; sensing; Tool; Minimally

PALPABLE introduces a new generation of MIS (Minimally Invasive Surgery) tools: a novel tactile sensing probe as a palpation tool for identification and visualization of tissue abnormalities. MIS has several advantages (reduced tissue damage, postoperative analgesic requirements & blood loss, decreased hospitalization time, better cosmetic results), but there is limited or no visual, haptic, and tactile feedback in-situ, along with issues of tool dexterity. These issues can lead to accidental tissue damage. The probe (diam. 5mm, length 15-20mm) incorporates multiple sensing modalities and a thin, flexible, pneumatically actuated end-effector (3DOF, 180deg) with distributed sensors for distributed tactile sensing. The probe consists of photonic sensing elements and a sphere held at the end of a circular tunnel by a steady flow of air. The sphere is free to rotate in all directions and can move into the channel when pressed against the airflow. When rolling over tissue, the displacement depends on the tissue’s stiffness and is picked up by the optical fibre above it. Optical intensity variation in the sensing element is used to identify tissue stiffness variations. The principle of measurement used is extrinsic light intensity modulation provided through optical fibres. A non-planar photonics circuit (200µm waveguide, 8bit colour depth) for a haptic sensor array will be developed and interfaced with the probe; this circuit will be engraved on ultra-thin polymeric foils. The foil sensing elements are distributed around and along the probe for multiple sensor inputs for palpation (i.e., stiffness), distance and curvature that are then fused to provide the overall tissue condition. Using thin foils allows for ease of integration with the probe and a straightforward manufacturing process to enable low cost in large volumes. The end effector is made from disposable or sterilizable materials, both options will be explored for recyclability and reusability respectively.

触觉公司推出了新一代微创手术工具：一种新型的触觉传感探头，作为识别和可视化组织异常的触诊工具。MIS有几个优点(减少组织损伤，术后止痛要求和出血，减少住院时间，更好的美容效果)，但有限的或没有视觉、触觉和触觉的原位反馈，以及工具灵活性的问题。这些问题可能会导致意外的组织损伤。探头(直径)5 mm，长度15-20 mm)集成了多种传感模式和一个薄的、灵活的、气动驱动的末端执行器(3自由度，180度)，带有分布式传感器，用于分布式触觉传感。探测器由光子传感元件和一个球体组成，球体被稳定的气流固定在圆形隧道的末端。球体可以在所有方向上自由旋转，当受到气流挤压时，可以移动到通道中。当在组织上滚动时，位移取决于组织的硬度，并被其上方的光纤接收。传感元件中的光学强度变化被用来识别组织硬度变化。所使用的测量原理是通过光纤提供的非本征光强度调制。将开发用于触觉传感器阵列的非平面光电子电路(200微米波导，8位色深)并与探头对接；该电路将被雕刻在超薄的聚合物薄膜上。箔片传感元件分布在探头周围并沿探头用于触诊(即，硬度)、距离和曲率的多个传感器输入，然后将其融合以提供整体组织状况。使用薄箔可以轻松地与探头集成，并采用简单的制造工艺，以实现大批量的低成本。末端执行器由一次性或可消毒材料制成，将分别探索可回收和可重复使用的两种选择。