Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study

Kim Lindberg Schwaner*, Diego Dall'Alba, Zhuoqi Cheng, Leonardo S. Mattos, Paolo Fiorini, Thiusius Rajeeth Savarimuthu

*Corresponding author for this work

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

Abstract

In this study we present the application of a compact electric bio-impedance (EBI) measurement device that can be integrated into existing surgical instruments. We propose a robotically assisted EBI acquisition system (REAS) to obtain stable EBI measurements of soft tissue in a user-defined region. The proposed system adds an additional sensing modality to robot-assisted minimally invasive surgery. We demonstrate the feasibility of the REAS in an ex-vivo experiment using the da Vinci Research Kit (dVRK). The results confirm the capabilities of the proposed method of performing robust EBI data acquisition.
Original languageEnglish
Title of host publicationProceedings of the 12th Hamlyn Symposium on Medical Robotics 2019
EditorsFani Deligianni, Giulio Dagnino, Guang-Zhong Yang
Place of PublicationLondon
PublisherThe Hamlyn Centre
Publication date24. Jun 2019
Pages31-32
Publication statusPublished - 24. Jun 2019
EventThe Hamlyn Symposium on Medical Robotics - Royal Geographical Society, London, United Kingdom
Duration: 23. Jun 201926. Jun 2019
Conference number: 12
https://www.ukras.org/hamlyn

Conference

ConferenceThe Hamlyn Symposium on Medical Robotics
Number12
LocationRoyal Geographical Society
CountryUnited Kingdom
CityLondon
Period23/06/201926/06/2019
Internet address
SeriesHamlyn Symposium on Medical Robotics
ISSN2516-5029

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