镊子
鉴定(生物学)
有限元法
软组织
生物医学工程
肝组织
电阻抗
工程类
材料科学
计算机科学
医学
电气工程
生物
外科
结构工程
内科学
植物
作者
Zhuoqi Cheng,Diego Dall’Alba,Darwin G. Caldwell,Paolo Fiorini,Leonardo S. Mattos
出处
期刊:IFMBE proceedings
日期:2020-01-01
卷期号:: 3-10
被引量:7
标识
DOI:10.1007/978-981-13-3498-6_1
摘要
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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