3D Graphical Rendering of Localized Lumps and Arteries for Robotic Assisted MIS

Detection of hard inclusions within soft tissue in robotic assisted minimally invasive surgery (MIS), also referred to as laparoscopic surgery, is of great importance, both in clinical and surgical applications. In clinical applications, surgeons need to detect and precisely identify the location and size of all growths, whether cancerous or benign, that are present within surrounding tissue in order to assess the extent and nature of any future treatment plan. In surgical applications, when any solid matter is being removed, it is important to avoid accidental injury to surrounding tissues and blood vessels since, were this to occur, it could then necessitate the need to resort to open surgery. The present study is aimed at developing a three-dimensional tactile display that provides palpation capability to any surgeon performing robotic assisted MIS. The information is collected from two force sensor/pressure matrices and processed with a new algorithm and graphically rendered. Consequently, the surgeon can determine the presence, location, and the size of any hidden superficial tumor/artery by grasping the target tissue in a quasidynamic way. The developed algorithm is presented, and the results for various configurations of embedded tumor/arteries inside the tissue are compared with those of the finite element analysis. DOI: 10.1115/1.4003736

[1]  William J. Peine,et al.  Tactile Imaging System for Localizing Lung Nodules during Video Assisted Thoracoscopic Surgery , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[2]  Itzhak Kronzon,et al.  Operative risk stratification and predictors for long-term outcome in low-gradient aortic stenosis. , 2004, Circulation.

[3]  Roy Kornbluh,et al.  Guest Editorial Introduction to the Focused Section on Electroactive Polymer Mechatronics , 2011, IEEE/ASME Transactions on Mechatronics.

[4]  Siamak Najarian,et al.  Tactile Distinction of an Artery and a Tumor in a Soft Tissue by Finite Element Method , 2008 .

[5]  Javad Dargahi,et al.  Design, fabrication, and testing of a piezoresistive hardness sensor in Minimally Invasive Surgery , 2010, 2010 IEEE Haptics Symposium.

[6]  E. Feuer,et al.  SEER Cancer Statistics Review, 1975-2003 , 2006 .

[7]  A. Jemal,et al.  Cancer Statistics, 2005 , 2005, CA: a cancer journal for clinicians.

[8]  A. Smit,et al.  Measurement of arterial wall thickness as a surrogate marker for atherosclerosis. , 2004, Circulation.

[9]  Gerd Hirzinger,et al.  Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery – Preliminary Results of a New Approach , 2009 .

[10]  Ken Ikeuchi,et al.  An endoscopic tactile sensor for low invasive surgery , 2005 .

[11]  Javad Dargahi,et al.  Graphical Rendering of Localized Lumps for MIS Applications , 2007 .

[12]  M. Kaneko,et al.  Non-Contact Impedance Imager with Phase Differentiator , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[13]  J. Dargahi,et al.  A New Approach for Modeling Piezoresistive Force Sensors Based on Semiconductive Polymer Composites , 2012, IEEE/ASME Transactions on Mechatronics.

[14]  M B Plunkett,et al.  Peripheral pulmonary nodules: preoperative percutaneous needle localization with CT guidance. , 1992, Radiology.

[15]  Jenny Dankelman,et al.  Slip and damage properties of jaws of laparoscopic graspers , 2004, Surgical Endoscopy.

[16]  Javad Dargahi,et al.  Design and microfabrication of a hybrid piezoelectric‐capacitive tactile sensor , 2006 .

[17]  Javad Dargahi,et al.  Theoretical and experimental analysis of a piezoelectric tactile sensor for use in endoscopic surgery , 2004 .

[18]  Frits Mastik,et al.  Finite element modeling and intravascular ultrasound elastography of vulnerable plaques: parameter variation. , 2004, Ultrasonics.

[19]  Javad Dargahi,et al.  Artificial Tactile Sensing in Biomedical Engineering , 2009 .

[20]  Javad Dargahi,et al.  Graphical Reproduction of Tactile Information of Embedded Lumps for MIS Applications , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[21]  G. E. Mase,et al.  Continuum Mechanics for Engineers , 1991 .

[22]  R. Ogden.  Non-Linear Elastic Deformations , 1984 .

[23]  D. Plewes,et al.  An inverse problem solution for measuring the elastic modulus of intact ex vivo breast tissue tumours , 2007, Physics in medicine and biology.