通过动觉反馈定位肺部肿瘤的可行性。
Feasibility of locating tumours in lung via kinaesthetic feedback.
作者信息
McCreery G L, Trejos A L, Naish M D, Patel R V, Malthaner R A
机构信息
Canadian Surgical Technologies & Advanced Robotics (CSTAR), London Health Sciences Centre, 339 Windermere Road, London, Ontario, Canada N6A 5A5.
出版信息
Int J Med Robot. 2008 Mar;4(1):58-68. doi: 10.1002/rcs.169.
BACKGROUND
Localizing lung tumours during minimally invasive surgery is difficult, since restricted access precludes manual palpation and pre-operative imaging cannot map directly to the intra-operative lung. This study analyses the force-sensing performance that would allow an instrumented kinaesthetic probe to localize tumours based on stiffness variations of the lung parenchyma.
METHODS
Agar injected into ex vivo porcine lungs produced a model approximating commonly encountered tumours. Force-deformation data were collected from multiple sites at various palpation depths and velocities, before and after the tumours were injected.
RESULTS
Analysis showed an increase in force after the tumours were injected, in the range 0.07-0.16 N at 7 mm (p < 10(-4)). A 2 mm/s palpation velocity minimized exponential stress decay at constant depths, facilitating easier comparisons between measurements.
CONCLUSION
A sensing range of 0-2 N, with 0.01 N resolution, should allow a kinaesthetic palpation probe to resolve local tissue stiffness changes that suggest an underlying tumour.
背景
在微创手术中定位肺部肿瘤很困难，因为受限的操作空间排除了手动触诊，且术前成像无法直接映射到术中的肺部。本研究分析了力传感性能，该性能可使配备仪器的动觉探头基于肺实质的硬度变化来定位肿瘤。
方法
将琼脂注入离体猪肺中，建立了一个近似常见肿瘤的模型。在注入肿瘤前后，于不同触诊深度和速度下从多个部位收集力-变形数据。
结果
分析表明，注入肿瘤后力有所增加，在7毫米深度时增加范围为0.07 - 0.16牛（p < 10^(-4)）。2毫米/秒的触诊速度可使在恒定深度下指数应力衰减最小化，便于测量之间进行更轻松的比较。
结论
0 - 2牛的传感范围，分辨率为0.01牛，应能使动觉触诊探头分辨出表明潜在肿瘤的局部组织硬度变化。
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