期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 17, 期 4, 页码 646-656出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2011.2116033
关键词
Force feedback; force sensor; minimally invasive surgery (MIS); optical fiber sensor; tissue palpation
类别
资金
- Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre
- MRC Centre for Transplantation
- GSTT Charity
- TUF
- Prostate U.K.
- Medical Research Council [MR/J006742/1] Funding Source: researchfish
Minimally invasive surgery (MIS) is a surgical technique that offers distinct advantages in reducing pain and patients' recovery time. However, the drawback due to the lack of force and tactile feedback presents a great deal of limitations in MIS procedures. Tissue palpation, which is easily conducted during traditional open surgery to examine tissue properties and abnormalities, is not possible when performing surgery in a minimally invasive manner. This paper proposes a specially designed miniature 3-axis distal force sensor that can be used to perform tissue palpation, measuring tissue interaction forces at the tip of a surgical instrument. Relying on an optical sensing scheme, the sensor can measure forces within measurement ranges of +/- 3 N in axial direction and +/- 1.5 N in radial direction. The resolution is 0.02 N. It is compatible with laparoscopic operations and can be used to localize tissue lesions or relatively hard nodules buried under an organ's surface, which are not detectable by visual means.
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