Parittotokkaporn T, Frasson L, Schneider A, Davies B L, Degenaar P, Rodriguez Y Baena F
Faculty of Engineering, and the Institute of Biomedical Engineering, Imperial College London, SW7 2AZ, UK.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:3190-3. doi: 10.1109/IEMBS.2010.5627410.
While there have been significant advances in minimally invasive surgical instrumentation, the majority of tools still rely on a push from the back to aid insertion into the tissue, whether the process is manual or servo assisted. In this work, a novel approach to tool insertion is proposed which is based on the concept of a multi-part probe with at least three interlocking segments. By means of a sequential insertion process, where each segment is pushed further into the tissue while stabilized by the remaining stationary parts, the multi-part probe concept is shown to successfully "insinuate itself" within a synthetic soft tissue specimen without the need for an overall forward push. The presence of an anisotropic microtextured outer probe surface is also shown to affect the overall speed of insertion and can thus be used to optimize the interaction forces at the probe-tissue interface. A measured reduction in the force transferred to the back of the specimen also suggests that this approach to tool insertion may result in reduced tissue disruption, a result which could lead to less tissue damage and a reduction in target displacement.
尽管微创外科手术器械已经取得了重大进展，但大多数工具仍然依靠从后面推动来辅助插入组织，无论这个过程是手动的还是伺服辅助的。在这项工作中，提出了一种新颖的工具插入方法，该方法基于具有至少三个互锁节段的多部分探头的概念。通过顺序插入过程，在每个节段由其余固定部分稳定的同时进一步推入组织，多部分探头概念被证明能够成功地在合成软组织样本中“巧妙地插入”，而无需整体向前推。各向异性微纹理化的外部探头表面的存在也被证明会影响整体插入速度，因此可用于优化探头与组织界面处的相互作用力。测量到传递到样本背面的力有所降低，这也表明这种工具插入方法可能会减少组织破坏，这一结果可能会减少组织损伤并降低目标位移。
