Perceptual Surgical Knife with Wavelet Denoising

Robotic surgery is a new technology in medical applications and has been undergoing rapid development. The surgical knife, essential for robotic surgery, has the ability to determine the success of an operation. In this paper, on the basis of the principle of field-effect transistors (FETs), a perceptual surgical knife is proposed to detect the electrons or electric field of the human body with distinguishable signals. In addition, it is difficult to discriminate between the motions of surgical knives from the perceptual signals that are disturbed by high-frequency Gaussian white noise. Therefore, the wavelet denoising approach is chosen to reduce the high-frequency noise. The proposed perceptual surgical knife with the wavelet denoising method has the characteristics of high sensitivity, low cost, and good repeatability.

[1]  Martin Vetterli,et al.  Wavelets and filter banks: theory and design , 1992, IEEE Trans. Signal Process..

[2]  Vicente Alarcon-Aquino,et al.  Change detection in time series using the maximal overlap discrete wavelet transform , 2009 .

[3]  G. Sutherland,et al.  Tool-Tissue Interaction Forces in Brain Arteriovenous Malformation Surgery. , 2017, World neurosurgery.

[4]  A. Lanfranco,et al.  Robotic Surgery: A Current Perspective , 2004, Annals of surgery.

[5]  Sanju Lama,et al.  Quantification of Forces During a Neurosurgical Procedure: A Pilot Study. , 2015, World neurosurgery.

[6]  Rong Zhu,et al.  ZnO nanorod-based FET biosensor for continuous glucose monitoring , 2018 .

[8]  Sang‐Woo Kim,et al.  Graphene Tribotronics for Electronic Skin and Touch Screen Applications , 2017, Advanced materials.

[9]  Michael D. Naish,et al.  A Breakthrough in Tumor Localization: Combining Tactile Sensing and Ultrasound to Improve Tumor Localization in Robotics-Assisted Minimally Invasive Surgery , 2017, IEEE Robotics & Automation Magazine.

[10]  Fabrice Labeau,et al.  Nanowire FET Based Neural Element for Robotic Tactile Sensing Skin , 2017, Front. Neurosci..

[11]  Hiroshi Toshiyoshi,et al.  A pressure sensitive ionic gel FET for tactile sensing , 2017 .

[12]  Rajnikant V. Patel,et al.  A multi-sensory mechatronic device for localizing tumors in minimally invasive interventions , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[13]  Robert A. Freitas,et al.  Nanomedicine, Volume I: Basic Capabilities , 1999 .

[14]  Haruhisa Kawasaki,et al.  Development of a Surgical Knife Device for a Multi-fingered Haptic Interface Robot , 2011 .

[15]  Kaspar Althoefer,et al.  An Optical Tactile Array Probe Head for Tissue Palpation During Minimally Invasive Surgery , 2014, IEEE Sensors Journal.

[16]  Matti Kaisti,et al.  Detection principles of biological and chemical FET sensors. , 2017, Biosensors & bioelectronics.

[17]  S. Mallat.  A wavelet tour of signal processing , 1998 .

[18]  G. Ballantyne.  Robotic surgery, telerobotic surgery, telepresence, and telementoring , 2002, Surgical Endoscopy And Other Interventional Techniques.

[19]  C. Bretherton,et al.  Maximal Overlap Wavelet Statistical Analysis With Application to Atmospheric Turbulence , 2006 .

[20]  Yu Ishige,et al.  Direct detection of enzyme-catalyzed products by FET sensor with ferrocene-modified electrode. , 2010, Biosensors & bioelectronics.

[21]  Sanju Lama,et al.  Surgical Skill Assessment Using Motion Quality and Smoothness. , 2017, Journal of surgical education.

[22]  Radu-Emil Precup,et al.  Review of tool-tissue interaction models for robotic surgery applications , 2014, 2014 IEEE 12th International Symposium on Applied Machine Intelligence and Informatics (SAMI).