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Towards tactile sensation in laparoscopic surgery

Wiederer, Carina (2014) Towards tactile sensation in laparoscopic surgery. DLR-Interner Bericht. DLR-IB 572-2014/24. Master's. Technische Universität München. 155 S.

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Hepatic tumorous lumps appear as stiff inclusions within the surrounding soft, healthy tissue. In open surgery they are searched for through manual palpation with the gloved fingertip. However, to exploit the benefits of minimally invasive laparoscopic surgery including less pain for the patient as well as a shorter hospital stay, i.e. a decrease of costs, it is mandatory to implement a substitution for the human sense of touch. Therefore, a tactile instrument has been conceptualized, elaborated and tested within the course of this thesis. The main goal was to enlarge the sensing area at the tool tip once it has entered the abdominal cavity through the restricted diameter of the trocar. The provision of a large sensitive surface enables the detection of nearly all sizes of tumors and decreases the time needed for task performance. The focus of this thesis was the development of a suitable mechanical structure for the tactile tool serving as a carrier for an existing flexible silicone sensor. Two different constructions have been selected from a number of concepts and manufactured as prototypes by laser sintering in polyamide. Consequently, on the base of the results acquired from automated and manual subject palpation tests on artificial silicone and porcine liver samples it has been evaluated that a prototypical instrument with a laterally opening lid would be a suitable device for intraoperative tumor detection in laparoscopic liver surgery.

Item URL in elib:https://elib.dlr.de/91368/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Towards tactile sensation in laparoscopic surgery
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:25 September 2014
Refereed publication:No
Open Access:No
Number of Pages:155
Keywords:minimally invasive surgery, laparoscopic instrument, tactile tools, instrument design in MIS, size constraints in laparoscopy, human sense of touch, artificial skin, tactile sensor, artificial tactility, intraoperative palpation, hepatic cancer, tumor detection and localization, tissue consistency, compressive characteristics, softness measurements, hardness differentiation, stiff inclusions, palpation tests, porcine liver specimen, visual feedback
Institution:Technische Universität München
Department:Fakultät für Maschinenwesen
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Robotische Assistenzsysteme (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Wiederer, Carina
Deposited On:07 Jan 2015 13:29
Last Modified:12 Jul 2016 22:09

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