Robot-Assisted Electrical Impedance Scanning system for 2D Electrical Impedance Tomography tissue inspection

Zhuoqi Cheng*, Diego Dall'Alba, Paolo Fiorini, Thiusius Rajeeth Savarimuthu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

The electrical impedance tomography (EIT) technology is an important medical imaging approach to show the electrical characteristics and the homogeneity of a tissue region noninvasively. Recently, this technology has been introduced to the Robot Assisted Minimally Invasive Surgery (RAMIS) for assisting the detection of surgical margin with relevant clinical benefits. Nevertheless, most EIT technologies are based on a fixed multiple-electrodes probe which limits the sensing flexibility and capability significantly. In this study, we present a method for acquiring the EIT measurements during a RAMIS procedure using two already existing robotic forceps as electrodes. The robot controls the forceps tips to a series of predefined positions for injecting excitation current and measuring electric potentials. Given the relative positions of electrodes and the measured electric potentials, the spatial distribution of electrical conductivity in a section view can be reconstructed. Realistic experiments are designed and conducted to simulate two tasks: subsurface abnormal tissue detection and surgical margin localization. According to the reconstructed images, the system is demonstrated to display the location of the abnormal tissue and the contrast of the tissues' conductivity with an accuracy suitable for clinical applications.

Original languageEnglish
Title of host publication2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)
Volume2021
PublisherIEEE
Publication dateNov 2021
Pages3729-3733
ISBN (Electronic)978-1-7281-1179-7
DOIs
Publication statusPublished - Nov 2021
Event43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) 2021 - , Mexico
Duration: 1. Nov 20215. Nov 2021

Conference

Conference43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) 2021
Country/TerritoryMexico
Period01/11/202105/11/2021
SeriesProceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society
ISSN2375-7477

Keywords

  • Electric Conductivity
  • Electric Impedance
  • Robotics
  • Tomography
  • Tomography, X-Ray Computed

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