Metrology and Measurement Systems

Abstract

Whatever the type of surgery related to inner organs, traditional or robotic, the contact with them during surgery is a key moment for pursuing the intervention. Contacts by means of surgery instruments namely scalpels, staples, clamps, graspers, etc. are decisive moments. False, and erroneous touching and manoeuvring of organs operated on can cause irreversible damage as regard morphological aspects (outer impact) and physiological aspects (inner impact). The topic is a great challenge in the effort to measure and characterize damages. In general, electrical instruments for surgery employ the following technologies: ultrasound, radiofrequency (monopolar, and bipolar), and laser. They all result in thermal damages difficult to evaluate. The article proposes a method for a pre-screening of organ features during robotic surgery sessions by pointing out mechanical and thermal stresses. A dedicated modelling has been developed based on experimental activities during surgery session. The idea is to model tissue behaviour from real images to help surgeons to be aware of handling during surgery. This is the first step for generalization by considering the type of organ. The measurement acquisitions have been performed by means of an advanced external camera located over the surgery quadrant. The modelling and testing have been carried out on kidneys. The modelling, carried out through Comsol Multiphysics, is based on the bioheat approach. A further comparative technique has been implemented. It is based on computer vision for robotics. The findings of human tissue behavior exhibit reliable results.