This paper presents the integration of electrical bio-impedance sensing technology into a bipolar surgical forceps for soft tissue identification during a robotic assisted procedure. The EBI sensing is done by pressing the forceps on the target tissue with a controlled pressing depth and a controlled jaw opening distance. The impact of these 2 parameters are characterized by finite element simulation. Subsequently, an experiment is conducted with 4 types of ex-vivo tissues including liver, kidney, lung and muscle. The experimental results demonstrate that the proposed EBI sensing method can identify these 4 tissue types with an accuracy higher than 92.82%.

Design and Integration of Electrical Bio-Impedance Sensing in a Bipolar Forceps for Soft Tissue Identification: A Feasibility Study

Dall’Alba, Diego;Fiorini, Paolo;
2019-01-01

Abstract

This paper presents the integration of electrical bio-impedance sensing technology into a bipolar surgical forceps for soft tissue identification during a robotic assisted procedure. The EBI sensing is done by pressing the forceps on the target tissue with a controlled pressing depth and a controlled jaw opening distance. The impact of these 2 parameters are characterized by finite element simulation. Subsequently, an experiment is conducted with 4 types of ex-vivo tissues including liver, kidney, lung and muscle. The experimental results demonstrate that the proposed EBI sensing method can identify these 4 tissue types with an accuracy higher than 92.82%.
978-981-13-3497-9
electric impedance sensing, robotic assisted surgery
Electrical bio-impedance Tissue identification Bipolar forceps Electrode configuration Finite element method
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/1018566
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