Abstract
This paper presents the integration of electrical bio-impedance sensing technology into a bipolar surgical forceps for soft tissue identification during a robotic assisted procedure. The EBI sensing is done by pressing the forceps on the target tissue with a controlled pressing depth and a controlled jaw opening distance. The impact of these 2 parameters are characterized by finite element simulation. Subsequently, an experiment is conducted with 4 types of ex-vivo tissues including liver, kidney, lung and muscle. The experimental results demonstrate that the proposed EBI sensing method can identify these 4 tissue types with an accuracy higher than 92.82%.
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Acknowledgements
This study has been partially supported from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement No. 742671).
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Cheng, Z., Dall’Alba, D., Caldwell, D.G., Fiorini, P., Mattos, L.S. (2020). Design and Integration of Electrical Bio-Impedance Sensing in a Bipolar Forceps for Soft Tissue Identification: A Feasibility Study. In: Bertemes-Filho, P. (eds) 17th International Conference on Electrical Bioimpedance. ICEBI 2019. IFMBE Proceedings, vol 72. Springer, Singapore. https://doi.org/10.1007/978-981-13-3498-6_1
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DOI: https://doi.org/10.1007/978-981-13-3498-6_1
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