Abstract
Abstract This work aims to demonstrate the feasibility that haptic information can be acquired from a da Vinci robotic tool using audio sensing according to sensor placement requirements in a real clinical scenario. For that, two potential audio sensor locations were studied using an experimental setup for performing, in a repeatable way, interactions of a da Vinci forceps with three different tissues. The obtained audio signals were assessed in terms of their resulting signal-to-noise-ratio (SNR) and their capability to distinguish between different tissues. A spectral energy distribution analysis using Discrete Wavelet Transformation was performed to extract signal signatures from the tested tissues. Results show that a high SNR was obtained in most of the audio recordings acquired from both studied positions. Additionally, evident spectral energy-related patterns could be extracted from the audio signals allowing us to distinguish between different palpated tissues.
Highlights
Invasive surgical procedures are increasingly performed with the use of robotic systems
During procedures with a da Vinci robot, the robotic arms are wrapped in a sterile drape during the procedure to avoid contamination of the surgical field by the robot’s non-sterile arms
To make audio guidance in robotic tools feasible, a suitable position for the placement of the sensor must be identified that conforms to the requirements of non-invasiveness and location in the non-sterile zone
Summary
Invasive surgical procedures are increasingly performed with the use of robotic systems. Robotic assistance systems allow increased precision but lacks completely of haptic sensation because of the indirect interaction with tissue through remotely controlled instruments. Different approaches have been presented in order to provide surgeons with haptic information They are mainly based on the direct or indirect measurement of force or pressure. Single sensors [1, 2] or sensor arrays [3, 4] are installed in the instrument components directly interacting with the patient’s inner organs This imposes serious design limitations for fulfilling clinical requirements. These measurements can only be used for extracting static one-point information, and for palpation purposes, dynamic information acquisition is required
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