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

doi:10.31256/HSMR2019.16

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

University of Verona
Italian Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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 language	English
Title of host publication	Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019
Editors	Fani Deligianni, Giulio Dagnino, Guang-Zhong Yang
Place of Publication	London
Publisher	The Hamlyn Centre
Publication date	24. Jun 2019
Pages	31-32
DOIs	https://doi.org/10.31256/HSMR2019.16
Publication status	Published - 24. Jun 2019
Event	The Hamlyn Symposium on Medical Robotics - Royal Geographical Society, London, United Kingdom Duration: 23. Jun 2019 → 26. Jun 2019 Conference number: 12 https://www.ukras.org/hamlyn

Conference

Conference	The Hamlyn Symposium on Medical Robotics
Number	12
Location	Royal Geographical Society
Country/Territory	United Kingdom
City	London
Period	23/06/2019 → 26/06/2019
Internet address	https://www.ukras.org/hamlyn

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10.31256/HSMR2019.16

https://www.imperial.ac.uk/media/imperial-college/hamlyn-centre/public/Proceedings_HSMR19.pdf

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1 Ph.D. thesis

Autonomy for Surgical Robot Systems
Schwaner, K. L., 13. Dec 2021, Syddansk Universitet. Det Tekniske Fakultet. 189 p.
Research output: Thesis › Ph.D. thesis

Open Access
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Schwaner, K. L., Dall'Alba, D., Cheng, Z., Mattos, L. S., Fiorini, P., & Savarimuthu, T. R. (2019). Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study. In F. Deligianni, G. Dagnino, & G.-Z. Yang (Eds.), Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019 (pp. 31-32). The Hamlyn Centre. https://doi.org/10.31256/HSMR2019.16

@inproceedings{6e9ab59352924a5ea08a6488179f739a,

title = "Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study",

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.",

author = "Schwaner, \{Kim Lindberg\} and Diego Dall'Alba and Zhuoqi Cheng and Mattos, \{Leonardo S.\} and Paolo Fiorini and Savarimuthu, \{Thiusius Rajeeth\}",

year = "2019",

month = jun,

day = "24",

doi = "10.31256/HSMR2019.16",

language = "English",

pages = "31--32",

editor = "Fani Deligianni and Giulio Dagnino and Guang-Zhong Yang",

booktitle = "Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019",

publisher = "The Hamlyn Centre",

note = "The Hamlyn Symposium on Medical Robotics ; Conference date: 23-06-2019 Through 26-06-2019",

url = "https://www.ukras.org/hamlyn",

}

Schwaner, KL, Dall'Alba, D, Cheng, Z, Mattos, LS, Fiorini, P & Savarimuthu, TR 2019, Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study. in F Deligianni, G Dagnino & G-Z Yang (eds), Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019. The Hamlyn Centre, London, pp. 31-32, The Hamlyn Symposium on Medical Robotics, London, United Kingdom, 23/06/2019. https://doi.org/10.31256/HSMR2019.16

Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study. / Schwaner, Kim Lindberg; Dall'Alba, Diego; Cheng, Zhuoqi et al.
Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019. ed. / Fani Deligianni; Giulio Dagnino; Guang-Zhong Yang. London: The Hamlyn Centre, 2019. p. 31-32.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Robotically assisted electrical bio-impedance measurements for soft tissue characterization: a feasibility study

AU - Schwaner, Kim Lindberg

AU - Dall'Alba, Diego

AU - Cheng, Zhuoqi

AU - Mattos, Leonardo S.

AU - Fiorini, Paolo

AU - Savarimuthu, Thiusius Rajeeth

N1 - Conference code: 12

PY - 2019/6/24

Y1 - 2019/6/24

N2 - 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.

AB - 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.

U2 - 10.31256/HSMR2019.16

DO - 10.31256/HSMR2019.16

M3 - Article in proceedings

SP - 31

EP - 32

BT - Proceedings of the 12th Hamlyn Symposium on Medical Robotics 2019

A2 - Deligianni, Fani

A2 - Dagnino, Giulio

A2 - Yang, Guang-Zhong

PB - The Hamlyn Centre

CY - London

T2 - The Hamlyn Symposium on Medical Robotics

Y2 - 23 June 2019 through 26 June 2019

ER -

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

Abstract

Conference

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Related research output

Autonomy for Surgical Robot Systems

Cite this