Minimally invasive robotic surgery (MIRS) entails total absence of haptic feedback due to the spatial separation of patient and surgeon. In conventional surgery, however, palpation to detect superficial arteries by a slight pulsation is an important, commonly applied, and security-relevant procedure. Therefore, a new approach is presented, focusing on the intra-operative detection of arteries hidden under covering tissue. The objective is to minimize the risk of an accidental dissection of sub-surficial vessels and, thereby, unintentional arterial bleeding. The system is intended to expand the existing DLR MIRS scenario providing kinesthetic feedback. It is based on a new, unidirectional ultrasonic probe.
Its measurement data are processed to convert the expected palpable pulsations to soft kinesthetic impulses. These are presented on a haptic interface.
Bernhard Kübler, Robin Gruber, Christoph Joppek, Johannes Port, Georg Passig, J.H. Nagel, and Gerd Hirzinger, "Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery –Preliminary Results of a New Approach", in Proc. of the World Congress on Medical Physics and Biomedical Engineering, Munich, Germany, September 2009, vol. 25, no. 6, pp. 299-302. elib