727 research outputs found

    Design of Novel Sensors and Instruments for Minimally Invasive Lung Tumour Localization via Palpation

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    Minimally Invasive Thoracoscopic Surgery (MITS) has become the treatment of choice for lung cancer. However, MITS prevents the surgeons from using manual palpation, thereby often making it challenging to reliably locate the tumours for resection. This thesis presents the design, analysis and validation of novel tactile sensors, a novel miniature force sensor, a robotic instrument, and a wireless hand-held instrument to address this limitation. The low-cost, disposable tactile sensors have been shown to easily detect a 5 mm tumour located 10 mm deep in soft tissue. The force sensor can measure six degrees of freedom forces and torques with temperature compensation using a single optical fiber. The robotic instrument is compatible with the da Vinci surgical robot and allows the use of tactile sensing, force sensing and ultrasound to localize the tumours. The wireless hand-held instrument allows the use of tactile sensing in procedures where a robot is not available

    Design of a Hand Held Minimally Invasive Lung Tumour Localization Device

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    Lung cancer is the leading type of cancer that causes death. If diagnosed, the treatment of choice is surgical resection of the tumour. Traditionally, a surgeon feels for the presence of a tumour in open thoracic surgery. However, a minimally invasive approach is desired. A major problem presented by the minimally invasive approach is the localization of the tumour. This project describes the design, analysis, and experimental validation of a novel minimally invasive instrument for lung tumour localization. The instrument end effector is a two degree of freedom lung tissue palpator. It allows for optimal tissue palpation to increase useful sensor feedback by ensuring sensor contact, and prevents tissue damage by uniformly distributing pressure on the tissue with an upper bound force. Finite element analysis was used extensively to guide the design process. The mechanism is actuated using high strength tungsten cables attached to controlled motors. Heat treatment experiments were undertaken with stainless steel alloy 440C for use in the design, achieving a device factor of safety of 4. This factor of safety is based on a 20 N force on the end effector — the approximate weight of a human lung. The design was prototyped and validation experiments were carried out to assess its articulation and its load carrying capacity. Up to 10 N of force was applied to the prototype. Issues to resolve in the current design include cable extension effects and the existence of joint inflection. The end effector was also designed to allow the inclusion of ultrasound, tactile, and kinaesthetic sensors. It is hypothesized that a plurality of sensors will increase the likelihood of positive tumour localization. These sensors, combined with the presented mechanical design, form the basis for research in robotics-assisted palpation. A proof of concept control system is presented for automated palpation

    An Optoelectromechanical Tactile Sensor for Detection of Breast Lumps

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    A Novel Minimally Invasive Tumour Localization Device

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    Lung cancer is one of the leading causes of death, by cancer. The usual treatment is surgical resection of tumours. However, patients who are weak or have poor pulmonary function are deemed unfit for surgery. For these patients, a minimally-invasive approach is desired. A major problem associated with minimally-invasive approaches is tumour localization in real time and accurate measurement of tool--tissue forces. This thesis describes the design, analysis, manufacturing and validation of a minimally-invasive instrument for tumour localization, named Palpatron. The instrument has an end effector that is able to support two previously designed jaws, one containing an ultrasound sensor and the other a tactile sensor. The jaws can move with two degrees of freedom to palpate tissue and rotate about the central axis of the instrument. The Palpatron has uncoupled jaw motion that allows for optimal alignment of sensors to improve data acquisition. The instrument can be easily assembled and disassembled allowing it to be cleaned and sterilized. The mechanism is articulated using push rods, each actuated by a motor. A semi-automatic control system was created for palpation. It is composed of a microcontroller that controls four motors via serial communication. In addition, the Palpatron has the ability to prevent tissue damage by measuring tool--tissue forces. Finite element analysis was used to guide material selection for designed components. Grade 5 titanium was selected for end effector links to provide a factor of safety of 1.2 against yielding under a 10 N point load at the tip of a jaw. The design was fabricated and validated by conducting experiments to test articulation and load carrying capacity. An 8-N force was applied to the instrument, which was successfully supported. The semi-automatic control system was used to perform basic maneuvering tasks to verify jaw motion capabilities. With positive testing results, the Palpatron forms the next step towards a comprehensive robotic-assisted palpation technology

    Kapasitiivinen mittaus robotin z-suuntaiseen positioon

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    This Master of Science thesis presents mechanical, electrical, measurement and software design and implementation for robot end effector with capacitive tactile force sensor. This end effector is designed to measure both touch and force in z-axis direction and then used in automated testing of smart devices. Various mechanical and electrical designs can be used in the design of a tactile force sensor. The chosen design is always application driven. Selection of measurement technology and decisions made during the design are dependent on the use case and the demands of the application. Different technologies are introduced and one of them is chosen. The selection is justified on the base of preferred attributes. The designed tactile sensor, with changeable spring steel flexure sheets, is a proof of concept that force sensing can be made affordable and capacitive technology can be used in it. The sensor with 0.1 mm thick spring steel flexure pair is capable to measure forces from 0 g to 70 g with resolution of 2.36g, precision of 1 g, hysteresis of 0.5% and linearity error of ± 1%. In touch sensing of the surface in the direction of z-axis, the sensor performs reliably under 3 milliseconds. In force sensing, the previously used methods have always leaned towards commercial solutions which are often expensive and the new design offers an alternative option for this

    NASA SBIR abstracts of 1990 phase 1 projects

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    The research objectives of the 280 projects placed under contract in the National Aeronautics and Space Administration (NASA) 1990 Small Business Innovation Research (SBIR) Phase 1 program are described. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses in response to NASA's 1990 SBIR Phase 1 Program Solicitation. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 280, in order of its appearance in the body of the report. The document also includes Appendixes to provide additional information about the SBIR program and permit cross-reference in the 1990 Phase 1 projects by company name, location by state, principal investigator, NASA field center responsible for management of each project, and NASA contract number

    Advanced Knowledge Application in Practice

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    The integration and interdependency of the world economy leads towards the creation of a global market that offers more opportunities, but is also more complex and competitive than ever before. Therefore widespread research activity is necessary if one is to remain successful on the market. This book is the result of research and development activities from a number of researchers worldwide, covering concrete fields of research

    A Stepwise Compression-Relaxation Testing Method for Tissue Characterization and Tumor Detection Via a Two-Dimensional Tactile Sensor

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    This dissertation presents a stepwise compression-relaxation (SCR) testing method built upon a two-dimensional (2D) tactile sensor for mechanical characterization of soft tissues and tumor detection. The core of the 2D sensor entails one whole polydimethylsiloxane (PDMS) microstructure embedded with a 3×3 sensing-plate/transducer array. A soft sample was compressed by the 2D sensor with a step incremental depth at a ramp speed, and then relaxed for certain hold time. When a soft sample was compressed by the 2D sensor, the sensing-plates translated the sample response at different tissue sites to the sensor deflections, which were registered as resistance changes by the transducer array. Instant elasticity (Einstant) and loss factor (tan δ) extracted from the measured data were used to quantify the sample elasticity and viscoelasticity, respectively. First, a three-way ANOVA analysis was conducted on the data of soft materials (PDMS/silicone rubbers) to evaluate the influence of testing parameters (incremental depth, hold time, and ramp speed) on the measured results. The results revealed that both Einstant and tan δ were significantly dependent on testing parameters. Next, the measured results on the soft tissues showed different elasticity and viscoelasticity between muscle tissues and fat/skin tissues. The measured results on the tumor tissues indicated different elasticity and viscoelasticity among the five breast tumor (BT) tissues, and between the two pancreatic tumor (PT) tissues before and after treatment. Due to the larger sample size of the BT tissues, the elasticity distribution among the measure BT tissue sites was used to determine the location, shape and size of the tumor in a BT tissue. The correlation of stress drop (Δσ) (obtained from the difference between the instant and relaxed sensor deflections at each step incremental depth) with the applied strain (ε) was used for tumor detection. Pearson correlation analysis was conducted to quantitatively analyze the measured Δσ-ε relation as slope of stress drop versus applied strain (m=Δσ/ε) and coefficient of determination (R2) as a measure of the goodness of fit of the linear regression for distinguishing tumor tissue from normal tissue. The measured results on soft materials showed that m was significantly dependent on testing parameters, but R2 showed no significant dependency on testing parameters. The measured results on the tumor tissues indicated R2 was significantly varied among the center, edge and outside sites of the BT tissues. However, no difference was found between the BT outside sites and the normal tissues. R2 also revealed significant difference between before and after treatment of the PT tissues, while no difference between the PT tissues after treatment and the normal tissues. R2 of the PT tissues before treatment was significantly different from that of the BT center sites, but m failed to capture their difference. Furthermore, dummy tumors made of silicone rubbers were found to behave differently from the native tumors. In summary, the feasibility of the SCR testing method for tissue characterization and tumor detection was experimentally validated on the measured soft samples, including PDMS, silicone rubbers, porcine and bovine normal tissues, mouse BT and PT tissues. Future work will investigate the feasibility of the SCR testing method for differentiation between benign tumors and malignant tumors
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