A breakthrough in tumor localization

Authors

Anish S. Naidu, Lawson Health Research Institute
Michael D. Naish, Lawson Health Research InstituteFollow
Rajni V. Patel, Lawson Health Research Institute

Document Type

Article

Publication Date

1-1-2017

Volume

24

Issue

2

Journal

IEEE Robotics and Automation Magazine

First Page

54

URL with Digital Object Identifier

10.1109/MRA.2017.2680544

Last Page

62

Abstract

Robotics-assisted minimally invasive surgery (RAMIS) helps surgeons to avoid manually palpating organs to locate subsurface tumors. Researchers 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.