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Journal of Biomedical Optics

Hybrid piezoresistive-optical tactile sensor for simultaneous measurement of tissue stiffness and detection of tissue discontinuity in robot-assisted minimally invasive surgery
Author(s): Naghmeh M. Bandari; Roozbeh Ahmadi; Amir Hooshiar; Javad Dargahi; Muthukumaran Packirisamy
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Paper Abstract

To compensate for the lack of touch during minimally invasive and robotic surgeries, tactile sensors are integrated with surgical instruments. Surgical tools with tactile sensors have been used mainly for distinguishing among different tissues and detecting malignant tissues or tumors. Studies have revealed that malignant tissue is most likely stiffer than normal. This would lead to the formation of a sharp discontinuity in tissue mechanical properties. A hybrid piezoresistive-optical-fiber sensor is proposed. This sensor is investigated for its capabilities in tissue distinction and detection of a sharp discontinuity. The dynamic interaction of the sensor and tissue is studied using finite element method. The tissue is modeled as a two-term Mooney–Rivlin hyperelastic material. For experimental verification, the sensor was microfabricated and tested under the same conditions as of the simulations. The simulation and experimental results are in a fair agreement. The sensor exhibits an acceptable linearity, repeatability, and sensitivity in characterizing the stiffness of different tissue phantoms. Also, it is capable of locating the position of a sharp discontinuity in the tissue. Due to the simplicity of its sensing principle, the proposed hybrid sensor could also be used for industrial applications.

Paper Details

Date Published: 22 July 2017
PDF: 10 pages
J. Biomed. Opt. 22(7) 077002 doi: 10.1117/1.JBO.22.7.077002
Published in: Journal of Biomedical Optics Volume 22, Issue 7
Show Author Affiliations
Naghmeh M. Bandari, Concordia Univ. (Canada)
Roozbeh Ahmadi, Concordia Univ. (Canada)
Amir Hooshiar, Concordia Univ. (Canada)
Javad Dargahi, Concordia Univ. (Canada)
Muthukumaran Packirisamy, Concordia Univ. (Canada)

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