دورية أكاديمية
A Minimally Invasive Robotic Tissue Palpation Device.
| العنوان: | A Minimally Invasive Robotic Tissue Palpation Device. |
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| المؤلفون: | Mir M, Chen J, Patel A, Pinezich MR, Guenthart BA, Vunjak-Novakovic G, Kim J |
| المصدر: | IEEE transactions on bio-medical engineering [IEEE Trans Biomed Eng] 2024 Jun; Vol. 71 (6), pp. 1958-1968. Date of Electronic Publication: 2024 May 20. |
| نوع المنشور: | Journal Article |
| اللغة: | English |
| بيانات الدورية: | Publisher: Institute Of Electrical And Electronics Engineers Country of Publication: United States NLM ID: 0012737 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 1558-2531 (Electronic) Linking ISSN: 00189294 NLM ISO Abbreviation: IEEE Trans Biomed Eng Subsets: MEDLINE |
| أسماء مطبوعة: | Publication: New York, NY : Institute Of Electrical And Electronics Engineers Original Publication: New York, IEEE Professional Technical Group on Bio-Medical Engineering. |
| مواضيع طبية MeSH: | Robotic Surgical Procedures*/instrumentation , Robotic Surgical Procedures*/methods , Minimally Invasive Surgical Procedures*/instrumentation , Minimally Invasive Surgical Procedures*/methods, Animals ; Rats ; Calibration ; Swine ; Rats, Sprague-Dawley ; Phantoms, Imaging ; Lung/surgery ; Palpation/instrumentation ; Palpation/methods ; Equipment Design/instrumentation ; Equipment Design/methods |
| مستخلص: | Objective: Robot-assisted minimally invasive surgery remains limited by the absence of haptic feedback, which surgeons routinely rely on to assess tissue stiffness. This limitation hinders surgeons' ability to identify and treat abnormal tissues, such as tumors, during robotic surgery. Methods: To address this challenge, we developed a robotic tissue palpation device capable of rapidly and non-invasively quantifying the stiffness of soft tissues, allowing surgeons to make objective and data-driven decisions during minimally invasive procedures. We evaluated the effectiveness of our device by measuring the stiffness of phantoms as well as lung, heart, liver, and skin tissues obtained from both rats and swine. Results: Results demonstrated that our device can accurately determine tissue stiffness and identify tumor mimics. Specifically, in swine lung, we determined elastic modulus (E) values of 9.1 ± 2.3, 16.8 ± 1.8, and 26.0 ± 3.6 kPa under different internal pressure of the lungs (PIP) of 2, 25, and 45 cmH Conclusion/significance: Results suggest that our robotic palpation device can be utilized during surgery, either as a stand-alone or additional tool integrated into existing robotic surgical systems, to enhance treatment outcomes by enabling accurate intraoperative identification of abnormal tissue. |
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| معلومات مُعتمدة: | P41 EB027062 United States EB NIBIB NIH HHS |
| تواريخ الأحداث: | Date Created: 20240123 Date Completed: 20240729 Latest Revision: 20240729 |
| رمز التحديث: | 20240729 |
| مُعرف محوري في PubMed: | PMC11178256 |
| DOI: | 10.1109/TBME.2024.3357293 |
| PMID: | 38261510 |
| قاعدة البيانات: | MEDLINE |
Full Text Finder | تدمد: | 1558-2531 |
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| DOI: | 10.1109/TBME.2024.3357293 |