Avery, J orcid.org/0000-0002-4015-1802, Shulakova, D, Runciman, M et al. (2 more authors) (2020) Tactile Sensor for Minimally Invasive Surgery Using Electrical Impedance Tomography. IEEE Transactions on Medical Robotics and Bionics, 2 (4). pp. 561-564. ISSN 2576-3202
Abstract
Whilst offering numerous benefits to patients, minimally invasive surgery (MIS) has a disadvantage in the loss of tactile feedback to the surgeon, traditionally offering valuable qualitative tissue assessment, such as tumour identification and localisation. Tactile sensors aim to overcome this loss of sensation by detecting tissue characteristics such as stiffness, composition and temperature. Tactile sensors have previously been incorporated into MIS robotic end effectors, which require lengthy scanning procedures due to localised sensitivity. Distributed tactile sensors, or 'artificial skin' offer a map of tissue properties in a single instance but are often not suitable for MIS applications due to limited biocompatibility or large collapsed volumes. We propose a deployable, soft, tactile sensor with a deformable saline chamber and integrated Electrical Impedance Tomography (EIT) electrodes. During contact with tissue, the saline is displaced from the chamber and the lesion size and stiffness can be inferred from the resultant impedance changes. Through optimisation of the EIT measurement protocol and hardware the sensor was capable of localising the centre of mass of palpation targets within 1.5 mm in simulation and 2.3-4.6mm in phantom experiments. Reconstructed image metrics differentiated target objects from 8-30 mm.
Metadata
Item Type: | Article |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | This article is protected by copyright. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/. |
Keywords: | Electrical impedance tomography; medical robotics; soft robotics; tactile sensors |
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 15 Mar 2024 14:35 |
Last Modified: | 15 Mar 2024 14:35 |
Published Version: | https://ieeexplore.ieee.org/document/9226614 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/tmrb.2020.3031636 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:210315 |
Download
Filename: Tactile_Sensor_for_Minimally_Invasive_Surgery_Using_Electrical_Impedance_Tomography.pdf
Licence: CC-BY 4.0