Multi-sensing tool for Minimally Invasive Surgery

PALPABLE推出了新一代MIS（微创手术）工具：一种新型触觉传感探头，作为触诊工具，用于识别和可视化组织异常。MIS具有几个优点（减少组织损伤、术后镇痛要求和失血、减少住院时间、更好的美容效果），但是存在有限的或没有原位视觉、触觉和触觉反馈，以及沿着工具灵活性的问题。这些问题可能导致意外的组织损伤。探头（直径）5 mm，长度15- 20 mm）结合了多种传感模态和薄的、柔性的、可伸缩致动的末端执行器（3DOF，180度），其具有用于分布式触觉传感的分布式传感器。该探测器由光子传感元件和一个由稳定的空气流固定在圆形隧道末端的球体组成。球体可以在所有方向上自由旋转，并且当被压向气流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，并由其上方的光纤拾取。传感元件中的光强变化用于识别组织硬度变化。所使用的测量原理是通过光纤提供的非本征光强度调制。开发了用于触觉传感器阵列的非平面光子电路（200µm波导，8位色深），并与探头连接;该电路将雕刻在超薄聚合物箔上。箔感测元件围绕并沿着探针分布，用于触诊的多个传感器输入（即，硬度）、距离和曲率，然后融合以提供整体组织情况。使用薄箔允许容易地与探针集成，并且允许简单的制造过程以实现大批量的低成本。末端执行器由一次性或可灭菌材料制成，将分别探索这两种选择的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.