机器人触诊检测皮下软组织异常的建模与仿真,用于手术前评估

Abhinaba Bhattacharjee, M. Terry Loghmani, Sohel Anwar
{"title":"机器人触诊检测皮下软组织异常的建模与仿真,用于手术前评估","authors":"Abhinaba Bhattacharjee, M. Terry Loghmani, Sohel Anwar","doi":"10.1115/1.4063470","DOIUrl":null,"url":null,"abstract":"Abstract Surgical Haptics is an emergent field of research to integrate and advance the sense of robotic touch in laparoscopic tools in robot-assisted minimally invasive surgery. Haptic feedback from the tooltip and soft tissue surface interaction during robotic palpation can be leveraged to detect the texture and contour of subsurface geometry. However, precise force modulation of the robotic palpating probe is necessary to determine stiff inclusions of the anatomy and maneuver successive manipulation tasks during surgery. This paper focuses on investigating the layered deformations associated with different force profiles involved in manipulating the superficial anatomy of soft tissues during dynamic robotic palpation to determine the underlying anomaly. A realistic three-dimensional (3D) cross-sectional soft tissue phantom with anatomical layers and tumor, as an anomaly, is designed, modeled, and analyzed to examine the effects of oriented palpating forces (0–5 N) of a 7 DOF robot arm equipped with a contoured palpation probe. Finite element static structural analysis of oriented robotic palpation on the developed 3D soft tissue phantoms (with and without anomaly) reveals the soft tissue layer deformations and associated strains needed to identify presence of stiffer inclusions or anomaly during Robotic palpation. The finite element analysis study shows that the difference in deformations of soft tissue layers (e.g., underlying myofascial layers) under stiffer inclusions at different force levels can facilitate haptic feedback to acquire information about subsurface tumors. The deformation variations are further compared to assess better palpation orientations for subsurface anomaly detection.","PeriodicalId":73734,"journal":{"name":"Journal of engineering and science in medical diagnostics and therapy","volume":"43 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modeling and Simulation of Robotic Palpation to Detect Subsurface Soft Tissue Anomaly for Presurgical Assessment\",\"authors\":\"Abhinaba Bhattacharjee, M. Terry Loghmani, Sohel Anwar\",\"doi\":\"10.1115/1.4063470\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract Surgical Haptics is an emergent field of research to integrate and advance the sense of robotic touch in laparoscopic tools in robot-assisted minimally invasive surgery. Haptic feedback from the tooltip and soft tissue surface interaction during robotic palpation can be leveraged to detect the texture and contour of subsurface geometry. However, precise force modulation of the robotic palpating probe is necessary to determine stiff inclusions of the anatomy and maneuver successive manipulation tasks during surgery. This paper focuses on investigating the layered deformations associated with different force profiles involved in manipulating the superficial anatomy of soft tissues during dynamic robotic palpation to determine the underlying anomaly. A realistic three-dimensional (3D) cross-sectional soft tissue phantom with anatomical layers and tumor, as an anomaly, is designed, modeled, and analyzed to examine the effects of oriented palpating forces (0–5 N) of a 7 DOF robot arm equipped with a contoured palpation probe. Finite element static structural analysis of oriented robotic palpation on the developed 3D soft tissue phantoms (with and without anomaly) reveals the soft tissue layer deformations and associated strains needed to identify presence of stiffer inclusions or anomaly during Robotic palpation. The finite element analysis study shows that the difference in deformations of soft tissue layers (e.g., underlying myofascial layers) under stiffer inclusions at different force levels can facilitate haptic feedback to acquire information about subsurface tumors. The deformation variations are further compared to assess better palpation orientations for subsurface anomaly detection.\",\"PeriodicalId\":73734,\"journal\":{\"name\":\"Journal of engineering and science in medical diagnostics and therapy\",\"volume\":\"43 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-10-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of engineering and science in medical diagnostics and therapy\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/1.4063470\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of engineering and science in medical diagnostics and therapy","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/1.4063470","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

摘要外科触觉是一个新兴的研究领域,旨在整合和推进机器人辅助微创手术中腹腔镜工具的机器人触觉。在机器人触诊过程中,来自工具提示和软组织表面相互作用的触觉反馈可以用来检测地下几何结构的纹理和轮廓。然而,精确的力调制的机器人触诊探头是必要的,以确定硬包体的解剖和操纵连续的操作任务在手术中。本文的重点是研究在动态机器人触诊过程中操纵软组织表面解剖过程中与不同力剖面相关的分层变形,以确定潜在的异常。设计、建模和分析了具有解剖层和肿瘤的逼真三维(3D)横断面软组织幻影,以检测配备轮廓触诊探头的7自由度机械臂定向触诊力(0-5 N)的影响。定向机器人触诊对开发的三维软组织幻影(有和没有异常)进行有限元静力结构分析,揭示了软组织层变形和相关应变,需要在机器人触诊过程中识别更硬的内含物或异常的存在。有限元分析研究表明,不同受力水平下较硬的包体下软组织层(如下肌筋膜层)变形的差异有助于触觉反馈获取表面下肿瘤的信息。进一步比较变形变化,以评估更好的触诊方向,用于地下异常检测。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Modeling and Simulation of Robotic Palpation to Detect Subsurface Soft Tissue Anomaly for Presurgical Assessment
Abstract Surgical Haptics is an emergent field of research to integrate and advance the sense of robotic touch in laparoscopic tools in robot-assisted minimally invasive surgery. Haptic feedback from the tooltip and soft tissue surface interaction during robotic palpation can be leveraged to detect the texture and contour of subsurface geometry. However, precise force modulation of the robotic palpating probe is necessary to determine stiff inclusions of the anatomy and maneuver successive manipulation tasks during surgery. This paper focuses on investigating the layered deformations associated with different force profiles involved in manipulating the superficial anatomy of soft tissues during dynamic robotic palpation to determine the underlying anomaly. A realistic three-dimensional (3D) cross-sectional soft tissue phantom with anatomical layers and tumor, as an anomaly, is designed, modeled, and analyzed to examine the effects of oriented palpating forces (0–5 N) of a 7 DOF robot arm equipped with a contoured palpation probe. Finite element static structural analysis of oriented robotic palpation on the developed 3D soft tissue phantoms (with and without anomaly) reveals the soft tissue layer deformations and associated strains needed to identify presence of stiffer inclusions or anomaly during Robotic palpation. The finite element analysis study shows that the difference in deformations of soft tissue layers (e.g., underlying myofascial layers) under stiffer inclusions at different force levels can facilitate haptic feedback to acquire information about subsurface tumors. The deformation variations are further compared to assess better palpation orientations for subsurface anomaly detection.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
High-Speed Three-Dimensional-Digital Image Correlation and Schlieren Imaging Integrated With Shock Tube Loading for Investigating Dynamic Response of Human Tympanic Membrane Exposed to Blasts. Quantifying the Fascicular Changes in Recovered Achilles Tendon Patients Using Diffusion Magnetic Resonance Imaging and Tractography. Assistive Technology for Real-Time Fall Prevention during Walking: Evaluation of the Effect of an Intelligent Foot Orthosis A Simple Poc Device for Temperature Control of Multiple Reactions During Recombinase Polymerase Amplification Auxetic Structure Inspired Microneedle Arrays for Minimally Invasive Drug Delivery
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1