Discretely loaded beam-type optical fiber tactile sensor for tissue manipulation and palpation in minimally invasive robotic surgery

IEEE Sensors Journal

Volumn 12, Issue 1, 2012, Pages 22-32

  Ahmadi, Roozbeh ^a   Packirisamy, Muthukumaran ^a   Dargahi, Javad ^a   Cecere, Renzo ^b  

^a Dept of Electrical and Computer Engineering   (Canada)

^b MCGILL UNIVERSITY   (Canada)

Author keywords

Lump artery detection; magnetic resonance imaging (MRI) compatible; minimally invasive robotic surgery (MIRS); optical fiber sensors; tactile sensors

Indexed keywords

ANATOMICAL STRUCTURES; ARRAY OF SENSORS; FINITE-ELEMENT MODELS; MINIMALLY INVASIVE; MOVING PARTS; MRI COMPATIBLE; NOVEL DESIGN; OPEN SURGERY; OPTICAL FIBER SENSORS; ROBOTIC SURGERY; STATIC AND DYNAMIC LOADING; STATIC LOADING; SURGICAL INSTRUMENT; TACTILE INFORMATION; TACTILE SENSORS; THEORETICAL MODELS; TISSUE MANIPULATION;

DYNAMIC LOADS; FINITE ELEMENT METHOD; INSTRUMENTS; MAGNETIC RESONANCE IMAGING; OPTICAL FIBER FABRICATION; OPTICAL FIBERS; ROBOTICS; ROBOTS; SENSORS; TISSUE; TRANSPLANTATION (SURGICAL);

SURGICAL EQUIPMENT;

EID: 82555189404     PISSN: 1530437X     EISSN: None     Source Type: Journal    
DOI: 10.1109/JSEN.2011.2113394     Document Type: Article

References (40)

1. D. B. Camarillo, T. M. Krummel, and J. K. Salisbury, "Robotic technology in surgery: Past, present, and future," Amer. J. Surg., vol. 188, no. 4 A, pp. 2-15, 2004.
2. M. Mack, "Minimally invasive and robotic surgery," J. Am. Med. Assoc., vol. 285, no. 5, pp. 568-572, 2001. (Pubitemid 32656325)
3. A. K. Okamura, "Methods for haptic feedback in teleoperated robotassisted surgery," Ind. Robot, vol. 31, no. 6, pp. 499-508, 2004.
4. V. Bozovic, Medical Robotics. Vienna, Austria: I-Tech Education and Publishing, 2008, pp. 491-498.
5. C.-H. King, M. O. Culjat, M. L. Franco, C. E. Lewis, E. P. Dutson, W. S. Grundfest, and J. W. Bisley, "Tactile feedback induces reduced grasping force in robot-assisted surgery," IEEE Trans. Haptic, vol. 2, no. 2, pp. 103-110, Apr.-Jun. 2009.
6. G. C. Burdea, Force and Touch Feedback for Virtual Reality. New York: Wiley, 1996, pp. 3-4.
7. S. Schostek, M. O. Schurr, and G. F. Buess, "Review on aspects of artificial tactile feedback in laparoscopic surgery," Med. Eng. Phys., vol. 31, pp. 887-898, 2009.
8. A. L. Trejos, J. Jayender, M. T. Perri, M. D. Naish, R. V. Patel, and R. A. Malthaner, "Robot-assisted tactile sensing for minimally invasive tumor localization," Int. J. Robot. Res., vol. 28, no. 9, pp. 1118-1133, 2009.
9. B. Kuebler, R. Gruber, C. Joppek, J. Port, G. Passig, J. H. Nagel, and G. Hirzinger, "Tactile feedback for artery detection in minimally invasive robotic surgery-preliminary results of a new approach," in Proc. IFMBE, 2009, vol. 25, pp. 299-302, 6.
10. P. Puangmali, K. Althoefer, L. D. Seneviratne, D. Murphy, and P. Dasgupta, "State-of-the-art in force and tactile sensing for minimally invasive surgery," IEEE Sensors J., vol. 8, no. 4, pp. 371-381, Apr. 2008.
11. C. R. Wagner, N. Stylopoulos, and R. D. Howe, "The role of force feedback in surgery: Analysis of blunt dissection," in Proc. 10th Symp. Haptic Interfaces for Virtual Envir. Teleoperator Systs., Orlando, FL, Mar. 2002, pp. 68-74.
12. C. R. Wagner, N. Stylopoulos, P. G. Jackson, and R. D. Howe, "The benefit of force feedback in surgery: Examination of blunt dissection," Presence-Teleoper. Virtual Env., vol. 16, no. 3, pp. 252-262, 2007.
13. C.-H. King, M. O. Culjat, M. L. Franco, J. W. Bisley, G. P. Carman, E. P. Dutson, and W. S. Grundfest, "A multielement tactile feedback system for robot-assisted minimally invasive surgery," IEEE Trans. Haptic, vol. 2, no. 1, pp. 52-56, Jan.-Mar. 2009.
14. J. Stoll and P. Dupont, "Force control for grasping soft tissue," in Proc. 2006 IEEE Int. Conf. Robot. Autom., Orlando, FL, May 2006, pp. 4309-4311.
15. S. Sokhanvar, M. Packirisamy, and J. Dargahi, "MEMS endoscopic tactile sensor: Toward in-situ and in-vivo tissue softness characterization, " IEEE Sensors J., vol. 9, no. 12, pp. 1679-1687, 2009.
16. J. Peirs, J. Clijnen, D. Reynaerts, H. V. Brussel, P. Herijgers, B. Corteville, and S. Boonea, "A micro optical force sensor for force feedback during minimally invasive robotic surgery," Sens. Actuator A-Phys., vol. 115, no. 2-3, pp. 447-455, 2004.
17. K. Deary, A. Melzer, V. Watson, G. Kronreif, and D. Stoianovici, "Interventional robotic systems: Applications and technology state-of-theart," Minim. Invasive Ther. Allied Technol., vol. 15, pp. 101-113, 2006. (Pubitemid 43820916)
18. K. Chinzei and K. Miller, "MRI guided surgical robot," in Proc. 2001 Australian Conf. Robot. Autom., Sydney, Australia, Nov. 2001, pp. 50-55.
19. K. Chinzei, R. Kikinis, and F. A. Jolesz, "MR compatibility of mechatronic devices: Design criteria," in Proc. 2nd Int. Conf. Med. Image Comput. Comput.-Assisted Intervention, 1999, pp. 1020-1031.
20. S. G. Yuen, M. C. Yip, N. V. Vasilyev, D. P. Perrin, P. J. Del Nido, and R. D. Howe, "Robotic force stabilization for beating heart intracardiac surgery," in Proc. 12th Int. Conf. Med. Image Comput. Comput.-Assisted Intervention: Part I, 2009, pp. 26-33.
21. J. A. C. Heijmans, L. K. Cheng, and F. P. Wieringa, "Optical fiber sensors for medical applications-practical engineering considerations," in Proc. 4th Eur. Conf. Int. Federation for Med. Biol. Eng. (IFMBE), 2008, vol. 22, pp. 2330-2334.
22. K. J. Rebello, "Applications of MEMS in surgery," Proc. IEEE, vol. 92, pp. 43-55, Jan. 2004. (Pubitemid 40890771)
23. T. A. Kern, Engineering Haptic Devices, 1st ed.: Springer, 2009, pp. 321-347.
24. P. Puangmali, K. Althoefer, and L. D. Seneviratne, "Mathematical modeling of intensity-modulated bent-tip optical fiber displacement sensors," IEEE Trans. Instrum. Meas., vol. 59, pp. 283-291, Feb. 2010.
25. S. Sokhanvar, M. Packirisamy, and J. Dargahi, "A multifunctional PVDF-based tactile sensor for minimally invasive surgery," Smart Mater. Struct., vol. 16, pp. 989-998, 2007. (Pubitemid 47160785)
26. G. Tholey and J. P. Desai, "A modular, automated laparoscopic grasper with three-dimensional force measurement capability," in Proc. 2007 IEEE Int. Conf. Robot. Autom., Italy, Apr. 2007, pp. 250-255. (Pubitemid 350140195)
27. A. Patriciu, D. Petrisor, M. Muntener, D. Mazilu, M. Schär, and D. Stoianovici, "Automatic brachytherapy seed placement under MRI guidance," IEEE Trans. Biomed. Eng., vol. 54, no. 8, pp. 1499-1506, Aug. 2007. (Pubitemid 47076260)
28. N. Takahashi, M. Tada, J. Ueda, Y. Matsumoto, and T. Ogasawara, "An optical 6-axis force sensor for brain function analysis using fMRI," in Proc. IEEE Int. Conf. Sensors, Toronto, Canada, Oct. 2003, pp. 253-258.
29. P. Polygerinos, D. Zbyszewski, T. Schaeffter, R. Razavi, L. D. Seneviratne, and K. Althoefer, "MRI-compatible fiber-optic force sensors for catheterization procedures," IEEE Sensors J., vol. 10, no. 10, pp. 1598-1608, Oct. 2010.
30. K. Yokoyama, H. Nakagawa, D. C. Shah, H. Lambert, G. Leo, N. Aeby, A. Ikeda, J. V. Pitha, T. Sharma, R. Lazzara, and W. M. Jackman, "Novel contact force sensor incorporated in irrigated radio frequency ablation catheter predicts lesion size and incidence of steam pop and thrombus," Circ.-Arrhythmia Electrophysiol., vol. 1, no. 5, pp. 354-362, 2008.
31. P. Puangmali, P. Dasgupta, L. D. Seneviratne, and K. Althoefer, "Miniaturized triaxial optical fiber force sensor for MRI-guided minimally invasive surgery," in Proc. 2010 IEEE Int. Conf. Robot. Autom., Alaska, May 2010, pp. 2592-2597.
32. P. Polygerinos, P. Puangmali, T. Schaeffter, R. Razavi, L. D. Seneviratne, and K. Althoefer, "Novel miniature MRI-compatible fiber-optic force sensor for cardiac catheterization procedures," in Proc. 2010 IEEE Int. Conf. Robot. Autom., Alaska, May 2010, pp. 2598-2603.
33. R. Ahmadi, J. Dargahi, M. Packirisamy, and R. Cecere, "A new MRIcompatible optical fiber tactile sensor for use in minimally invasive robotic surgery systems," in Proc. 4th Eur. Workshop on Opt. Fiber Sensors, Sep. 2010, vol. 7653, pp. 2Z-1-2Z-4.
34. M. C. Yip, S. G. Yuen, and R. D. Howe, "A robust uniaxial force sensor for minimally invasive surgery," IEEE Trans. Biomed. Eng., vol. 57, no. 5, pp. 1008-1011, May 2010.
35. F. P. Beer and E. R. Johnston, Mechanics of Materials. New York: McGraw-Hill, 1981, pp. 396-429.
36. R. C. Gauthier and C. Ross, "Theoretical and experimental considerations for a single-mode fiber-optic bend-type sensor," Appl. Opt., vol. 36, no. 25, pp. 6264-6273, 1997. (Pubitemid 127743004)
37. Y. C. Fung, Biomechanics: Mechanical Properties of Living Tissues, 2nd ed. New York: Springer-Verlag, 1993.
38. R. W. Ogden, Non-Linear Elastic Deformations. Chichester, U. K.: Ellis-Horwood Limited, 1984, pp. 213-222.
39. COMSOL Multiphysics Software User's Guide for Structural Mechanics Module pp. 119-121, ver. 3.4, Oct. 2007.
40. E. P. W. van der Putten, J. J. den Dobbelsteen, R. H. M. Goossens, J. J. Jakimowicz, and J. Dankelman, "Effect of laparoscopic grasper force transmission ratio on grasp control," Surg. Endosc., vol. 23, no. 4, pp. 818-824, 2008.