22 July 2017 Hybrid piezoresistive-optical tactile sensor for simultaneous measurement of tissue stiffness and detection of tissue discontinuity in robot-assisted minimally invasive surgery
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Abstract
To compensate for the lack of touch during minimally invasive and robotic surgeries, tactile sensors are integrated with surgical instruments. Surgical tools with tactile sensors have been used mainly for distinguishing among different tissues and detecting malignant tissues or tumors. Studies have revealed that malignant tissue is most likely stiffer than normal. This would lead to the formation of a sharp discontinuity in tissue mechanical properties. A hybrid piezoresistive-optical-fiber sensor is proposed. This sensor is investigated for its capabilities in tissue distinction and detection of a sharp discontinuity. The dynamic interaction of the sensor and tissue is studied using finite element method. The tissue is modeled as a two-term Mooney–Rivlin hyperelastic material. For experimental verification, the sensor was microfabricated and tested under the same conditions as of the simulations. The simulation and experimental results are in a fair agreement. The sensor exhibits an acceptable linearity, repeatability, and sensitivity in characterizing the stiffness of different tissue phantoms. Also, it is capable of locating the position of a sharp discontinuity in the tissue. Due to the simplicity of its sensing principle, the proposed hybrid sensor could also be used for industrial applications.
© 2017 Society of Photo-Optical Instrumentation Engineers (SPIE)
Naghmeh M. Bandari, Naghmeh M. Bandari, Roozbeh Ahmadi, Roozbeh Ahmadi, Amir Hooshiar, Amir Hooshiar, Javad Dargahi, Javad Dargahi, Muthukumaran Packirisamy, Muthukumaran Packirisamy, } "Hybrid piezoresistive-optical tactile sensor for simultaneous measurement of tissue stiffness and detection of tissue discontinuity in robot-assisted minimally invasive surgery," Journal of Biomedical Optics 22(7), 077002 (22 July 2017). https://doi.org/10.1117/1.JBO.22.7.077002 . Submission: Received: 4 March 2017; Accepted: 26 June 2017
Received: 4 March 2017; Accepted: 26 June 2017; Published: 22 July 2017
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