n this study we present the application of a compact electric bio-impedance (EBI) measurement device that can be integrated into existing surgical instruments. We propose a robotically assisted EBI acquisition system (REAS) to obtain stable EBI measurements of soft tissue in a user-defined region. The proposed system adds an additional sensing modality to robot-assisted minimally invasive surgery. We demonstrate the feasibility of the REAS in an ex-vivo experiment using the da Vinci Research Kit (dVRK). The results confirm the capabilities of the proposed method of performing robust EBI data acquisition.
Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study
Dall'Alba, Diego;Fiorini, Paolo;
2019-01-01
Abstract
n this study we present the application of a compact electric bio-impedance (EBI) measurement device that can be integrated into existing surgical instruments. We propose a robotically assisted EBI acquisition system (REAS) to obtain stable EBI measurements of soft tissue in a user-defined region. The proposed system adds an additional sensing modality to robot-assisted minimally invasive surgery. We demonstrate the feasibility of the REAS in an ex-vivo experiment using the da Vinci Research Kit (dVRK). The results confirm the capabilities of the proposed method of performing robust EBI data acquisition.
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