Abad Guaman, Sara Adela;
Wurdemann, Helge;
Raitt, Duncan;
Homer-Vanniasinkam, Shervanthi;
Dasgupta, Prokar;
(2025)
Miniature Compliance Controllable Sensor for Tissue Stiffness Sensing and Palpation.
IEEE Transactions on Medical Robotics and Bionics
(In press).
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Abstract
Tissue stiffness can provide key details about the health and type of tissues. This paper presents the creation of a miniaturised soft tissue stiffness sensor with dimensions that make it suitable for palpation in minimally invasive surgery. We introduce the stiffness sensor design and experimentally test its force sensing, elasticity measurement, and dynamic palpation performance. The sensor can measure normal forces with an adjustable range. Angled forces were measured with their magnitude and angles, θY and θX, root-mean-square errors (RMSE) of 8.37%, 6.68%, and 13.92% of their respective ranges. Furthermore, samples with an elasticity between 4.20 kPa and 177.62 kPa, which were not in the training set, were measured with an RMSE of 7.79% of the tested range. During palpation, the boundary between the 13.4 kPa elastomer and the 2 mm embedded 29.3 kPa elastomer was located with a signal-noise ratio (SNR) of 77.04:1 and a mean offset of 0.706 mm. This investigation provides new insights into sensing devices capable of fitting trocars while measuring tissue elasticity and force during minimally invasive procedures.
| Type: | Article |
|---|---|
| Title: | Miniature Compliance Controllable Sensor for Tissue Stiffness Sensing and Palpation |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://ieeexplore.ieee.org/ |
| Language: | English |
| Additional information: | This work was supported by the U.K. Engineering and Physical Sciences Research Council (EPSRC) under Grants: EP/S014039/1 and UKRI/EP/B000259/1, and by the UCL Therapeutic Acceleration Support Fund under Grant No. 184646. For the purpose of Open Access, the author has applied a CC BY public copyright license to any Author Accepted Manuscript version arising from this submission. |
| Keywords: | Sensor, Stiffness, Force, Palpation, Surgical |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10218023 |
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