Multi-sensing tool for Minimally Invasive Surgery

tangible引入了新一代MIS（微创手术）工具：一种新型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，术后镇痛需求和失血，减少住院时间，更好的美容效果），但现场视觉，触觉和触觉反馈有限或没有，以及工具灵巧性问题。这些问题会导致意外的组织损伤。探头（直径5mm，长度15-20mm）包含多种传感方式和一个薄的，灵活的，气动驱动的末端执行器（3d， 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。球体可以自由地向各个方向旋转，并且可以在气流压迫下进入通道。当在组织上滚动时，位移取决于组织的刚度，并由其上方的光纤拾取。传感元件的光强度变化用于识别组织刚度变化。所使用的测量原理是通过光纤提供的外部光强调制。开发了用于触觉传感器阵列的非平面光子电路（200µm波导，8bit色深），并与探头接口；这种电路将被雕刻在超薄的聚合物箔上。箔感测元件分布在探头周围和沿线，用于触诊（即刚度）、距离和曲率的多个传感器输入，然后融合以提供整体组织情况。使用薄箔可以方便地与探头集成，并且可以直接制造工艺，从而实现低成本的大批量生产。末端执行器由一次性或可灭菌材料制成，这两种选择将分别探讨可回收性或可重复使用性。

PALPABLE introduces a new generation of MIS (Minimally Imvasive 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 none 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 the 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 haptic sensor array is developed and interfaced with the probe; this circuit will be engraved on ultra-thin polymeric foil. The foil sensing elements are distributed around & along the probe for multiple sensor inputs for palpation (i.e., stiffness), distance and curvature that are then fused to provide the overall tissue situation. 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 or reusability respectively.