Hamed Abbi, Masamune Ken, Tse Zion Tsz Ho, Lamperth Michael, Dohi Takeyoshi
Mechatronics in Medicine Laboratory, Imperial College London, UK.
Proc Inst Mech Eng H. 2012 Jul;226(7):565-75. doi: 10.1177/0954411912444213.
Minimally invasive surgery is a widely used medical technique, one of the drawbacks of which is the loss of direct sense of touch during the operation. Palpation is the use of fingertips to explore and make fast assessments of tissue morphology. Although technologies are developed to equip minimally invasive surgery tools with haptic feedback capabilities, the majority focus on tissue stiffness profiling and tool-tissue interaction force measurement. For greatly increased diagnostic capability, a magnetic resonance imaging-compatible tactile sensor design is proposed, which allows minimally invasive surgery to be performed under image guidance, combining the strong capability of magnetic resonance imaging soft tissue and intuitive palpation. The sensing unit is based on a piezoelectric sensor methodology, which conforms to the stringent mechanical and electrical design requirements imposed by the magnetic resonance environment The sensor mechanical design and the device integration to a 0.2 Tesla open magnetic resonance imaging scanner are described, together with the device's magnetic resonance compatibility testing. Its design limitations and potential future improvements are also discussed. A tactile sensing unit based on a piezoelectric sensor principle is proposed, which is designed for magnetic resonance imaging guided interventions.
微创手术是一种广泛应用的医疗技术，其缺点之一是手术过程中会失去直接的触觉。触诊是指用指尖探索并快速评估组织形态。尽管已开发出各种技术为微创手术工具配备触觉反馈功能，但大多数技术都集中在组织硬度分析和工具与组织相互作用力的测量上。为了大幅提高诊断能力，本文提出了一种与磁共振成像兼容的触觉传感器设计，该设计允许在图像引导下进行微创手术，将磁共振成像对软组织的强大成像能力与直观的触诊相结合。传感单元基于压电传感器方法，符合磁共振环境所要求的严格机械和电气设计要求。本文描述了传感器的机械设计以及将该设备集成到0.2特斯拉开放式磁共振成像扫描仪的过程，同时还介绍了该设备的磁共振兼容性测试。此外，还讨论了其设计局限性和未来可能的改进方向。本文提出了一种基于压电传感器原理的触觉传感单元，该单元专为磁共振成像引导的介入手术而设计。
