IEEE Robotics & Automation Magazine - June 2017 - 54

By Anish S. naidu, Michael D. naish, and Rajni V. Patel

R

IMAGE LICENSED BY INGRAM PUBLISHING

obotics-assisted minimally invasive surgery (RAMIS)
helps surgeons to avoid manually palpating organs
to locate subsurface tumors. One solution has
been to use ultrasound, but it is not always
reliable. Tactile sensing, however, has
the potential to augment ultrasound to improve tumor localization, but there are no
existing RAMIS instruments that employ
both modalities.
We present a novel instrument compatible with the da Vinci surgical
robot that features both a tactile
sensor and an ultrasound transducer back-to-back in its end effector. The instrument has an
articulated wrist that allows it to
efficiently palpate tissue in a wide
range of orientations. The use of a
custom, disposable tactile sensor
avoids deterioration in sensor
performance due to repeated sterilization. The instrument can apply
a palpation force of up to 14 N in
any orientation, allowing its use on
various tissue types. The visualization
software conveniently provides tactile
and ultrasound feedback directly through
the da Vinci master console. Preliminary
tests with silicone phantoms and ex vivo tissue
samples demonstrate the operation and functionality of the instrument.
Background and Design Overview
Lung cancer is the most prevalent form of cancer worldwide. In
2012, 1.8 million new cases of lung cancer were diagnosed, and 1.6 million deaths

A Breakthrough
in Tumor Localization
Combining Tactile Sensing and Ultrasound to Improve Tumor Localization
in Robotics-Assisted Minimally Invasive Surgery
Digital Object Identifier 10.1109/MRA.2017.2680544
Date of publication: 9 May 2017

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Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2017

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IEEE Robotics & Automation Magazine - June 2017 - Cover3
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