Title :
A multi-sensory mechatronic device for localizing tumors in minimally invasive interventions
Author :
Escoto, Abelardo ; Bhattad, Srikanth ; Shamsil, Arefin ; Sanches, Andre ; Trejos, Ana Luisa ; Naish, Michael D. ; Malthaner, Richard A. ; Patel, Rajni V.
Author_Institution :
Canadian Surg. Technol. & Adv. Robot., Western Univ., London, ON, Canada
Abstract :
Tumor localization in traditional lung resection surgery requires manual palpation of the deflated lung through a thoracotomy. It is a painful procedure that is not suitable for many patients. Therefore, a multisensory mechatronic device was designed to localize tumors using a minimally invasive approach. The device is sensorized with tactile, ultrasound and position sensors in order to obtain multimodal data of soft tissue in real time. This paper presents the validation of the efficiency and efficacy of this device via an ex vivo experimental study. Tumor pathology was simulated by embedding iodine-agar phantom tumors of varying shapes and sizes into porcine liver tissue. The device was then used to palpate the tissue to localize and visualize the simulated tumors. Markers were then placed on the location of the tumors and fluoroscopic imaging was performed on the tissue in order to determine the localization accuracy of the device. Our results show that the device localized 87.5% of the tumors with an average deviation from the tumor center of 3.42 mm.
Keywords :
biomedical equipment; biomedical ultrasonics; data acquisition; diagnostic radiography; liver; lung; mechatronics; phantoms; real-time systems; surgery; tactile sensors; tumours; ultrasonic devices; average tumor localization deviation; device sensorization; ex vivo mechatronic device experiment; fluoroscopic imaging; iodine-agar phantom tumor embedding; manual deflated lung palpation; marker placement; mechatronic device efficacy; mechatronic device efficiency; minimally invasive approach; minimally invasive intervention; multimodal data acquisition; multisensory mechatronic device design; painful procedure; phantom tumor shape variation; phantom tumor size variation; porcine liver tissue; position sensor; real time data acquisition; simulated tumor visualization; soft tissue data acquisition; tactile sensor; thoracotomy; tissue palpation; traditional lung resection surgery; tumor center; tumor localization accuracy; tumor pathology simulation; ultrasound sensor; Imaging; Instruments; Liver; Lungs; Sensors; Three-dimensional displays; Tumors;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139858
