Mechanical and Materials Engineering Publications
A breakthrough in tumor localization
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.