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Softness sensing probe with multiple acoustic paths for laparoscopic surgery.
International Journal of Computer Assisted Radiology and Surgery ( IF 3 ) Pub Date : 2020-06-08 , DOI: 10.1007/s11548-020-02207-x
Taku Ukai 1 , Yoshihiro Tanaka 1 , Tomohiro Fukuda 1 , Takuma Kajikawa 1 , Hiroshi Miura 2 , Yukihiro Terada 2
Affiliation  

Purpose

Surgeon’s tactile sense is restricted during laparoscopic surgery. We aim to develop a softness sensing probe for endometriosis. Identification of the boundary of the lesion through a tactile sensor during laparoscopic surgery can provide an appropriate cut line, reducing excessive cut.

Method

We expand our acoustic reflection-based sensing to the proposed probe, which has three force-sensing points to measure the softness of the object. The compensation of the sensor posture with the three sensor outputs was additionally proposed. This sensor has a simple structure and no electrical elements in the part inserted into the body. The sensing principle was verified using the theoretical analysis. Fundamental experiment to make the estimation model and evaluation test with the simulated environment were conducted.

Result

The fundamental experiment showed that different softness can be estimated and that leave-one-out cross-validation resulted that the root-mean-square-error of the softness estimation was 31.5 kPa within the range of 7.5° in the probe posture. Samples which have similar softness as normal and lesioned uterus were used for the evaluation test using laparoscopic box trainer and a general trocar. Six participants operated the sensor, and the results showed that the samples were significantly discriminated by the softness estimated.

Conclusion

The experimental results showed that the sensor can estimate the softness while compensating the posture and discriminate model samples of normal and lesioned uterus in the simulated environment, indicating the possibility of boundary identification between normal and lesioned tissues during laparoscopic surgery of endometriosis.



中文翻译:

用于腹腔镜手术的具有多个声学路径的柔软感测探头。

目的

外科医生的触觉在腹腔镜手术中受到限制。我们的目标是开发一种用于子宫内膜异位症的柔软度传感探针。在腹腔镜手术过程中通过触觉传感器识别病变边界可以提供合适的切割线,减少过度切割。

方法

我们将基于声学反射的传感扩展到所提出的探头,该探头具有三个力传感点来测量物体的柔软度。另外还提​​出了用三个传感器输出来补偿传感器姿态。这种传感器结构简单,插入人体的部分没有电气元件。使用理论分析验证了传感原理。进行了估算模型的基础实验和模拟环境下的评价测试。

结果

基础实验表明,可以估计不同的柔软度,留一法交叉验证导致在探针姿势的7.5°范围内,柔软度估计的均方根误差为31.5 kPa。使用具有与正常和受损子宫相似的柔软度的样品用于使用腹腔镜盒训练器和通用套管针的评估测试。六名参与者操作了传感器,结果表明,通过估计的柔软度可以显着区分样品。

结论

实验结果表明,该传感器在模拟环境下可以在补偿姿势的同时估计柔软度并区分正常和病变子宫的模型样本,表明在子宫内膜异位症腹腔镜手术中正常和病变组织之间的边界识别的可能性。

更新日期:2020-06-08
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