Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 17, Issue 4, Pages 646-656Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2011.2116033
Keywords
Force feedback; force sensor; minimally invasive surgery (MIS); optical fiber sensor; tissue palpation
Categories
Funding
- 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
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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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