Miniature 3-axis distal force sensor for minimally invasive surgical palpation

IEEE/ASME Transactions on Mechatronics

Volumn 17, Issue 4, 2012, Pages 646-656

  Puangmali, Pinyo ^a   Liu, Hongbin ^a   Seneviratne, Lakmal D ^a,b   Dasgupta, Prokar ^c   Althoefer, Kaspar ^a  

^a KING'S COLLEGE LONDON   (United Kingdom)

^b KHALIFA UNIVERSITY   (United Arab Emirates)

^c GUY S HOSPITAL   (United Kingdom)

Author keywords

Force feedback; force sensor; minimally invasive surgery (MIS); optical fiber sensor; tissue palpation

Indexed keywords

AXIAL DIRECTION; FORCE FEEDBACK; FORCE SENSOR; MEASUREMENT RANGE; MINIMALLY INVASIVE; MINIMALLY INVASIVE SURGERY; MINIMALLY INVASIVE SURGICAL; OPEN SURGERY; OPTICAL FIBER SENSOR; OPTICAL SENSING; RADIAL DIRECTION; RECOVERY TIME; SURGICAL INSTRUMENT; SURGICAL TECHNIQUES; TACTILE FEEDBACK; TISSUE INTERACTIONS; TISSUE PROPERTIES;

PATIENT REHABILITATION; SENSORS; SURGERY; SURGICAL EQUIPMENT;

TISSUE;

EID: 84860889255     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2011.2116033     Document Type: Article

References (44)

1. M. B. Mariano, M. V. Tefilli, T. M. Graziottin, C. M. P. Morales, and I. H. Goldraich, "Laparoscopic prostatectomy for benign prostatic hyperplasia: A six-year experience," Eur. Urol., vol. 49, no. 1, pp. 127-132, Jan. 2006.
2. D. O. Olsen, "Laparoscopic cholecystectomy," Amer. J. Surg., vol. 161, no. 3, pp. 339-344, Mar. 1991.
3. G. Haber, S. Crouzet, and I. S. Gill, "Laparoscopic and robotic assisted radical cystectomy for bladder cancer: A critical analysis," Eur. Urol., vol. 54, no. 1, pp. 54-64, Jul. 2008.
4. E. Vaisbuch, C. Goldchmit, D. Ofer, A. Agmon, and Z. Hagay, "Laparoscopic hysterectomy versus total abdominal hysterectomy: A comparative study," Eur. J. Obstet. Gynecol. Reprod. Biol., vol. 126, no. 2, pp. 234-238, Jun. 2006. (Pubitemid 43766304)
5. A. Finelli and I. S. Gill, "Laparoscopic partial nephrectomy: Contemporary technique and results," Urol. Oncol.-Semin. Orig. investig., vol. 22, no. 2, pp. 139-144, Mar. 2004. (Pubitemid 38479810)
6. A. H. Zahraee, J. K. Paik, J. Szewczyk, and G. Morel, "Toward the development of a hand-held surgical robot for laparoscopy," IEEE/ASME Trans. Mechatronics, vol. 15, no. 6, pp. 853-861, Dec. 2010.
7. C. Ishii, K. Kobayashi, Y. Kamei, and Y. Nishitani, "Robotic forceps manipulator with a novel bending mechanism," IEEE/ASME Trans. Mechatronics, vol. 15, no. 5, pp. 671-684, Oct. 2010.
8. 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.
9. S. Schostek,M.O. Schurr, andG. F. Buess, "Reviewon aspects of artificial tactile feedback in laparoscopic surgery," Med. Eng. Phys., vol. 31, no. 8, pp. 887-898, Oct. 2009.
10. A. L. Trejos, R. V. Patel, and M. D. Naish, "Force sensing and its application in minimally invasive surgery: a survey," in Proc. Inst. Mech. Eng., J. Mech. Eng. Sci., vol. 224, no. 7, pt. C, pp. 1435-1454, 2010.
11. G. F. Buess, M. O. Schurr, and S. C. Fischer, "Robotics and allied technologies in endoscopic surgery," Arch. Surg., vol. 135, pp. 229-235, Feb. 2000. (Pubitemid 30078482)
12. J. Peirs, J. Clijnen,D.Reynaerts,H. van Brussel, P. Herijgers, B. Corteville, and S. Boone, "A micro optical force sensor for force feedback during minimally invasive robotic surgery," Sens. Actuators A, vol. 115, pp. 447-455, Sep. 2004.
13. U. Seibold, B. Kuebler, and G. Hirzinger, "Prototype of instrument for minimally invasive surgery with 6-axis force sensing capability," in Proc. IEEE Int. Conf. Robot. Autom., Barcelona, Spain, 2005, pp. 496-501. (Pubitemid 46083846)
14. J. Rosen, B. Hannaford, M. P. MacFarlane, and M. N. Sinanan, "Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation," IEEE Trans. Biomed. Eng., vol. 46, no. 10, pp. 1212-1221, Oct. 1999. (Pubitemid 29451082)
15. G. Tholey and J. P. Desai, "A modular, automated laparoscopic grasper with three-dimensional force measurement capability," in Proc. IEEE Int. Conf. Robot. Autom., Roma, Italy, 2007, pp. 250-255. (Pubitemid 350140195)
16. K. J. Rebello, "Applications of MEMS in surgery," Proc. IEEE, vol. 92, no. 1, pp. 43-55, Jan. 2004. (Pubitemid 40890771)
17. P. Valdastri, K. Harada, A. Menciassi, L. Beccai, C. Stefanini, M. Fujie, and P. Dario, "Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool," IEEE Trans. Biomed. Eng., vol. 53, no. 11, pp. 2397-2400, Nov. 2006. (Pubitemid 44629879)
18. J. C. Gwilliam, Z. Pezzementi, E. Jantho, A. M. Okamura, and S. Hsiao, "Human vs. robotic tactile sensing: detecting lumps in soft tissue," in Proc. Haptics Symp., 2010, pp. 21-28.
19. M. Y. Karadeniz-Bilgili, L. Braga, K. R. Birchard, D. Gerber, Z. Firat, J. T.Woosley, R. Shrestha, and R. C. Semelka, "Hepatocellular carcinoma missed on gadolinium enhancedMRimaging, discovered in liver explants: retrospective evaluation," J. Magn. Reson. Imag., vol. 3, no. 2, pp. 210-215, Feb. 2006. (Pubitemid 43191076)
20. M. Seçil, F. Obuz, C. Altay, Ö. Gencel, E. Ǐgči, Ö. Saǧol, and O. Dicle, "The role of dynamic subtraction MRI in detection of hepatocellular carcinoma," Diagn. Interv. Radiol., vol. 14, no. 4, pp. 200-204, Dec. 2008.
21. H. U. Ahmed, A. Kirkham, M. Arya, R. Illing, A. Freeman, C. Allen, and M. Emberton, "Is it time to consider a role for MRI before prostate biopsy?" Nat. Rev. Clin. Oncol., vol. 6, no. 4, pp. 197-206, Apr. 2009.
22. T. Ohtsuka, A. Furuse, T. Kohno, J. Nakajima, K. Yagyu, and S. Omata, "Application of a new tactile sensor to thoracoscopic surgery: experimental and clinical study," Ann. Thorac. Surg., vol. 60, pp. 610-614, 1995.
23. K. Brauck, M. Zenge, F. Stock, L. Mark, F. Vogt, and J. Barkhausen, "Multi-contrast whole-body 2-D axial MR imaging during continuous table movement for tumor staging," in Proc. Intl. Soc. Mag. Reson. Med., Seattle, WA, 1793.
24. D. Noonan, H. Liu, Y. H. Zweiri, A. A. Althoefer, and L. D. Seneviratne, "A dual-function wheeled probe for tissue viscoelastic property identification during minimally invasive surgery," in Proc. IEEE Int. Conf. Robot. Autom., Roma, Italy, 2007, pp. 2629-2634. (Pubitemid 350140574)
25. 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, Sep. 2009.
26. T. Yamamoto, B. Vagvolgyi, K. Balaji, L. L. Whitcomb, and A. M. Okamura, "Tissue property estimation and graphical display for teleoperated robot-assisted surgery," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, 2009, pp. 4239-4245.
27. H. Liu, D. P. Noonan, B. J. Challacombe, P. Daskupta, L. D. Seneviratne, and K. Althoefer, "Rolling mechanical imaging for tissue abnormality localization during minimally invasive surgery," IEEE Trans. Biomed. Eng., vol. 57, no. 2, pp. 404-414, Feb. 2010.
28. J. D. Brown, J. Rosen, Y. S. Kim, L. Chang, M. N. Sinanan, and B. Hannaford, "In-vivo and in-situ compressive properties of porcine abdominal soft tissues," Proc. Med. Meets Virtual Reality, pp. 26-32, 2003.
29. E. Samur, M. Sedef, C. Basdogan, L. Avtan, and O. Duzgun, "A robotic indenter for minimally invasive measurement and characterization of soft tissue response," Med. Image Anal., vol. 1281, pp. 713-718, May 2005. (Pubitemid 43693673)
30. M. P. Ottensmeyer and J. K. SalisburyJr., "In vivo data acquisition instrument for solid organ mechanical property measurement," in Proc. 4th Int. Conf. Med. Image Comput. Comput.-Assisted Intervention, 2001, pp. 975-982. (Pubitemid 33352505)
31. A. Bicchi, G. Canepa, D. De Rossi, P. Iacconi, and E. P. Scilingo, "A sensorized minimally invasive surgery tool for detecting tissutal elastic properties," in Proc. IEEE Int. Conf. Robot. Autom., Minneapolis, MN, 1996, pp. 884-888.
32. P. Puangmali, H. Liu, K. Althoefer, and L. D. Seneviratne, "Optical fiber sensor for soft tissue investigation during minimally invasive surgery," in Proc. IEEE Int. Conf. Robot. Autom., Pasadena, CA, 2008, pp. 2934-2939.
33. P. Puangmali, P. Dasgupta, L. D. Seneviratne, andK.Althoefer, "Miniaturized triaxial optical fiber force sensor for MRI-guided minimally invasive surgery," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, 2010, pp. 2592-2597.
34. H. Su and G. S. Fischer, "A 3-axis optical force/torque sensor for prostate needle placement in magnetic resonance imaging environments," in Proc. Int. Conf. Technol. Practical Robot Appl., Woburn, MA, 2009, pp. 5-9.
35. P. Renaud and M. de Mathelin, "Kinematic analysis for a novel design of MRI-compatible torque sensor," IEEE/RSJ Int. Conf. Intell. Robots Syst. St. Louis, MO, 2009, pp. 2640-2646.
36. P. Puangmali, K. Althoefer, and L. D. Seneviratne, "Novel design of a 3-axis optical fiber force sensor for applications in magnetic resonance environments," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, 2009, pp. 3682-3687.
37. M. C. Yip, A. G. Yuen, and R. D. Howe, "A robust uniaxial force sensor forminimally invasive surgery," IEEE Trans. Biomed. Eng., vol. 57, no. 5, pp. 1008-1011, May 2010.
38. 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. IEEE Int. Conf. Robot. Autom., Anchorage, AK, 2010, pp. 2598-2603.
39. U. Tan, B. Yang, R. Gullapalli, and J. P. Desai, "Design and development of a 3-axisMRI-compatible force sensor," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, 2010, pp. 2586-2591.
40. P. Puangmali, K. Althoefer, and L. D. Seneviratne, "Mathematical modeling of intensity-modulated bent-tip optical fiber displacement sensor," IEEE Trans. Instrum. Meas., vol. 59, no. 2, pp. 283-291, Feb. 2010.
41. G. C. Burdea, Force and Touch Feedback for Virtual Reality. NewYork: John Wiley & Sons, 1996.
42. R. S. Dahiya, G.Metta, M. Valle, and G. Sandini, "Tactile Sensing-From humans to humanoids," IEEE Trans. Robot., vol. 26, no. 1, pp. 1-20, Feb. 2010.
43. T. A. Krouskop, T. M. Wheeler, F. Kallel, B. S. Garra, and T. Hall, "Elastic moduli of breast and prostate tissues under compression," Ultrason. Imag., vol. 20, no. 4, pp. 260-274, Oct. 1998. (Pubitemid 29168827)
44. E. E. Konofagou, T. Harrigan, and J. Ophir, "Shear strain and lesion mobility assessment in elastography," Ultrasonics, vol. 38, no. 1-8, pp. 400-404, Mar. 2000. (Pubitemid 30592542)