Wireless tissue palpation: Proof of concept for a single degree of freedom

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 711-717

  Beccani, Marco ^a   Di Natali, Christian ^a   Rentschler, Mark E ^a   Valdastri, Pietro ^a  

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EXPERIMENTAL TRIALS; INDENTATION DEPTH; LAPAROSCOPIC SURGERY; MAXIMUM RELATIVE ERRORS; MINIMALLY INVASIVE SURGERY; PHYSICAL CONNECTIONS; ROBOTIC MANIPULATORS; SINGLE DEGREE OF FREEDOMS;

ELASTIC MODULI; PERMANENT MAGNETS; ROBOTICS; SILICONES;

TISSUE;

EID: 84887263811     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6630651     Document Type: Conference Paper

References (31)

1. Intuitive Surgical website: www.intuitivesurgical.com.
2. H Liu, J Li, X Song, L Seneviratne, and K Althoefer, "Rolling indentation probe for tissue abnormality identification during minimally invasive surgery," IEEE Trans Robot., vol 27, no 3, pp 450-460, 2011.
3. P Puangmali, H Liu, L Seneviratne, P Dasgupta, and K Althoefer, "Miniature 3-axis distal force sensor for minimally invasive surgical palpation," IEEE/ASME Trans Mechatronics, vol 17, no 4, pp 646-656, 2012.
4. P Dario and M Bergamasco, "An advanced robot system for automated diagnostic tasks through palpation," IEEE Trans Biomed Eng., vol 35, no 2, pp 118-126, 1988.
5. R Howe, W Peine, D Kantarinis, and J Son, "Remote palpation technology," IEEE Eng Med Biol Mag., vol 14, no 3, pp 318-323, 1995.
6. 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," The Annals of Thoracic Surgery, vol 60, no 3, pp 610-614, 1995.
7. M Ottensmeyer and J Salisbury, "In vivo data acquisition instrument for solid organ mechanical property measurement," in Medical Image Computing and Computer-Assisted Intervention-MICCAI 2001 Springer, 2001, pp 975-982.
8. E Samur, M Sedef, C Basdogan, L Avtan, and O Duzgun, "A robotic indenter for minimally invasive measurement and characterization of soft tissue response," Medical Image Analysis, vol 11, no 4, pp 361-373, 2007.
9. J Rosen, J Brown, S De, M Sinanan, and B Hannaford, "Biomechanical properties of abdominal organs in vivo and postmortem under compression loads," Journal of Biomechanical Engineering, vol 130, no 021020, pp 1-17, 2008.
10. K Lister, Z Gao, and J Desai, "Development of in vivo constitutive models for liver: Application to surgical simulation," Annals of Biomedical Engineering, vol 39, pp 1060-1073, 2011.
11. O Van der Meijden and M Schijven, "The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review," Surgical Endoscopy, vol 23, pp 1180-1190, 2009.
12. G Tholey and J P Desai, "A compact and modular laparoscopic grasper with tri-directional force measurement capability," ASME Journal of Medical Devices, vol 2, no 3, pp 031 001-9, 2008.
13. B K̈ubler, U Seibold, and G Hirzinger, "Development of actuated and sensor integrated forceps for minimally invasive robotic surgery," The International Journal of Medical Robotics and Computer Assisted Surgery, vol 1, no 3, pp 96-107, 2005.
14. M Stark, T Benhidjeb, S Gidaro, and E Morales, "The future of telesurgery: a universal system with haptic sensation," Journal of the Turkish-German Gynecological Association, vol 13, no 1, pp 74-76, 2012.
15. J Gwilliam, Z Pezzementi, E Jantho, A Okamura, and S Hsiao, "Human vs robotic tactile sensing: Detecting lumps in soft tissue," in IEEE Haptics Symposium, 2010, pp 21-28.
16. G McCreery, A Trejos, M Naish, R Patel, and R Malthaner, "Feasibility of locating tumours in lung via kinaesthetic feedback." The International Journal of Medical Robotics and Computer Assisted Surgery, vol 4, no 1, pp 58-68, 2008.
17. R E Goldman, A Bajo, and N Simaan, "Algorithms for autonomous exploration and estimation in compliant environments," Robotica, 2012, in press, available on-line.
18. P Culmer, J Barrie, R Hewson, M Levesley, M Mon-Williams, D Jayne, and A Neville, "Reviewing the technological challenges associated with the development of a laparoscopic palpation device," The International Journal of Medical Robotics and Computer Assisted Surgery, vol 8, no 2, pp 146-159, 2012.
19. B Laulicht, N J Gidmark, A Tripathi, and E Mathiowitz, "Localization of magnetic pills," Proceedings of the National Academy of Sciences, vol 108, no 6, pp 2252-2257, 2011.
20. E P Furlani, Permanent Magnet and Electromechanical Devices Academic Press, 2001, pp 131-135.
21. P Valdastri, A Menciassi, and P Dario, "Transmission power requirements for novel ZigBee implants in the gastrointestinal tract," IEEE Trans Biomed Eng., vol 55, no 6, pp 1705-1710, 2008.
22. S R Platt, J A Hawks, and M E Rentschler, "Vision and task assistance using modular wireless in vivo surgical robots," IEEE Trans Biomed Eng., vol 56, no 6, pp 1700-1710, 2009.
23. C Song, A Alijani, T Frank, G Hanna, and A Cuschieri, "Mechanical properties of the human abdominal wall measured in vivo during insufflation for laparoscopic surgery," Surgical Endoscopy, vol 20, no 6, pp 987-990, 2006.
24. C Di Natali, T Ranzani, M Simi, A Menciassi, and P Valdastri, "Trans-abdominal active magnetic linkage for robotic surgery: Concept definition and model assessment," in Robotics and Automation (ICRA), IEEE International Conference on, 2012, pp 695-700.
25. M Kunkel, A Moral, R Westphal, D Rode, M Rilk, and F Wahl, "Using robotic systems in order to determine biomechanical properties of soft tissues," in Studies in Health Technology and Informatics, Proceedings of the 2nd Conference on Applied Biomechanics, vol 133, no 3, 2008, p 156.
26. C D Natali, M Beccani, and P Valdastri, "Real-time pose detection for magnetic medical devices," IEEE Trans Magn., 2013, in press, available on-line.
27. G Ciuti, P Valdastri, A Menciassi, and P Dario, "Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures," Robotica, vol 28, no 2, pp 199-207, 2010.
28. S Yim and M Sitti, "Design and rolling locomotion of a magnetically actuated soft capsule endoscope," IEEE Trans Robot., vol 28, no 1, pp 183-194, 2012.
29. A W Mahoney, D L Cowan, K M Miller, and J J Abbott, "Control of untethered magnetically actuated tools using a rotating permanent magnet in any position," in Robotics and Automation (ICRA), IEEE International Conference on, 2012, pp 3375-3380.
30. Takktile by Y Tenzer, L Jentoft, I Daniher, and Robert Howe: www.takktile.com.
31. M E Rentschler, J Dumpert, S R Platt, K Lagnernma, D Oleynikov, and S M Farritor, "Modeling, analysis, and experimental study of in vivo wheeled robotic mobility," IEEE Trans Robot., vol 22, no 2, pp 308-321, 2006.