Initial Evaluation of a Tactile/Kinesthetic Force Feedback System for Minimally Invasive Tumor Localization

The sense of touch is a valuable tool for surgeons in open procedures to directly access buried structures and organs, identify their margins, and prevent undesired cuts. Furthermore, as tumors manifest as stiffer than healthy tissues, surgeons rely on touch sensation for their detection. Modern surgical procedures are performed in a minimally invasive way; however, despite the many benefits for patients, it hinders the surgeon's ability to directly interact and manipulate the tissue. Therefore, restoring the sense of touch in Minimally Invasive Surgery (MIS) has been an active research topic, with many novel devices developed by the research community for creating stiffness distribution maps of underlying tissues. We developed in our previous work a Wireless Palpation Probe (WPP) to restore tissue palpation in MIS by creating a real-time stiffness distribution map of the palpated tissue. The WPP takes advantage of a field-based magnetic localization algorithm to measure its position, orientation, and tissue indentation depth in addition to a barometric sensor to measure the indentation tissue pressure. Similarly to other pressure sensors covered by silicone rubber, the deformations of both the tissue and silicone material introduce nonlinearities which detrimentally affect the sensor measurements. In this work, we characterized and calibrated different diameter WPP heads with a new design that allows exchangeability and disposability of the probe head. The benchtop trials showed that this method can effectively reduce the error in the sensor pressure measurements to 5 \% with respect to the reference sensor. This method can be extended to any mechanical tumor probing system where silicone rubber is interposed between the target tissue and the sensing element. Furthermore, we studied the effect of the head diameter on the device spatial resolution to detect different size tumor simulators embedded into different stiffness silicone phantoms. Overall, the results showed a tumor detection rate over 90 %, independent of the head diameter, when an indentation depth of at 5 mm is applied on the tissue simulator. All authors have seen the manuscript and agree to its submission to Sensors and Actuator A: physical. Sincerely, Marco Beccani ----------------------------------------------------------------------- *Manuscript(includes changes marked in red font for revision documents) Click here to view linked ReferencesThe benchtop trials showed that this method can effectively reduce the error in the sensor pressure measurements to 5% with respect to the reference sensor.This method can be extended to any mechanical tumor probing system where silicone rubber is interposed between the target tissue and the sensing element.Furthermore, we studied the effect of the head diameter on the device spatial resolution to detect different size tumor simulators embedded into different stiffness silicone phantoms. Overall, the results showed a tumor detection rate over 90 %, independent of the head diameter, when an indenta...

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“…In this work, a new calibration methodology was implemented for the WPP 6 N, a force value which can lead to tissue damage [21].…”

Section: Discussionmentioning

confidence: 99%

Wireless tissue palpation: Head characterization to improve tumor detection in soft tissue

Beccani

Natali

Benjamin

et al. 2015

Sensors and Actuators A: Physical

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“…2) Pressure Sensing Head: To calibrate and characterize the pressure sensing head response, a 6-DoF load cell (NANO17, ATI Industrial Automation, USA, resolution 1/160 N) was adopted as the force reference system [26]. The WPP was mounted as in the previous experiment, while the load cell was fixed on the benchtop.…”

Section: ) Localizationmentioning

confidence: 99%

Wireless Tissue Palpation for Intraoperative Detection of Lumps in the Soft Tissue

Beccani

Natali

Sliker

et al. 2014

IEEE Trans. Biomed. Eng.

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“…It can be noted, that the common mode applies force servoing, while the differential mode applies position tracking. They can be regulated independently in the virtual modal space of the bilateral teleoperation system (1)- (2). Conversely, the inverse modal transformation is applied by T −1 = 1 2 T. Hence, the teleoperator dynamics can now be expressed in the virtual modes by…”

Section: The System Model In the Virtual Modesmentioning

confidence: 99%

“…Thus, the advanced tasks, such as minimal invasive surgery (MIS), could be performed better [1], [2]. When the motion and forces are tracked simultaneously then such teleoperation is called haptic teleoperation; hence, the touch of the slave device with the remote environment is ideally transmitted to the human operator.…”

Section: Introductionmentioning

confidence: 99%

A Study on the FPGA Implementation of the Bilateral Control Algorithm Towards Haptic Teleoperation

Franc¹,

Hace

2013

Automatika

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Original scientific paperThis paper presents the FPGA implementation of sliding mode control algorithm for bilateral teleoperation, such that, the problem of haptic teleoperation is addressed. The presented study improves haptic fidelity by widening the control bandwidth. For wide control bandwidth, short control periods as well as short sampling periods are required that was achieved by the FPGA. The presented FPGA design methodology applies basic optimization methods in order to meet the required control period as well as the required hardware resource consumption. The circuit specification was performed by the high-level programing language LabVIEW using the fixed-point data type. Hence, short design times for producing the FPGA logic circuit can be achieved. The proposed FPGA-based bilateral teleoperation was validated by master-slave experimental device.Key words: Bilateral teleoperation, Haptics, FPGA, Sliding Mode Control Analiza FPGA implementacije bilateralnih algoritama upravljanja za dodirnu teleoperaciju. Ovaj rad opisuje FPGA implementaciju algoritama upravljanja kliznim režimima za bilateralnu teleoperaciju, pričemu je opisan problem haptičke teleoperacije. Prikazano istraživanje poboljšava dodirnu pouzdanost proširenjem upravljačkog propusnog pojasa. Za široki propusni pojas, potrebni su kratki upravljački periodi i brzo vrijeme uzorkovanja, što je postignuto primjenom FPGA sklopovlja. Prikazana metodologija za projektiranje FPGA sklopovlja koristi osnovne optimizacijske metode s ciljem postizanja potrebnih upravljačkih perioda i zahtijevane fizičke iskorištenosti sklopovlja. Specifikacije sklopovlja su provedene programskim jezikom visoke razine LabVIEW uz korištenje podataka s nepomičnim decimalnim zarezom. Stoga je moguće implementirati traženu logiku na FPGA sklopovlje u kratkom vremenu. Opisana bilateralna teleoperacija temeljena na FPGA slopovlju je testirana na eksperimentalnom postavu s nadre enim i podre enimčvorom.

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Initial Evaluation of a Tactile/Kinesthetic Force Feedback System for Minimally Invasive Tumor Localization

Cited by 27 publications

References 21 publications

Wireless tissue palpation: Head characterization to improve tumor detection in soft tissue

Wireless tissue palpation: Head characterization to improve tumor detection in soft tissue

Wireless Tissue Palpation for Intraoperative Detection of Lumps in the Soft Tissue

A Study on the FPGA Implementation of the Bilateral Control Algorithm Towards Haptic Teleoperation

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