Thickness Estimation Method of a Hard Object Located in a Soft Material using a Grasping Forceps with Sensors for Tumor Detection
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- Saito Kai
- Graduate School of Engineering, Tokyo Denki University
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- Nakai Akihito
- Information and Robot Technology Research Initiative, The University of Tokyo Touchence Inc.
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- Masamune Ken
- Institute of Advanced BioMedical Engineering and Science, Tokyo Women's Medical University
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- Dohi Takeyoshi
- School of Engineering, Tokyo Denki University
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- Kuwana Kenta
- School of Engineering, Tokyo Denki University
Bibliographic Information
- Other Title
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- 腫瘍判別に向けたセンサ付把持鉗子による軟材料中の硬質物の厚さ推定法
- シュヨウ ハンベツ ニ ムケタ センサ ツキ ハジ カンシ ニ ヨル ナンザイリョウ チュウ ノ コウシツブツ ノ アツサ スイテイホウ
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Abstract
<p>In this study, we proposed a thickness estimation method of tumor using a grasping forceps with sensors and evaluated the method by estimating the thickness of tumor models located in tissue models. Though palpation is an important technique for distinguishing a tumor, the palpation during thoracoscopic surgery is difficult because of the lack of tactile sense. In order to compensate the surgeon's tactile sense, we developed a forceps with two MEMS (Micro Electro Mechanical Systems) triaxial tactile sensors. By using this forceps, we proposed a tumor thickness estimation method focusing on the detected force difference according to the hardness of the grasping area. Then, we evaluated the thickness of tumor models located in the soft tissue models to prove the feasibility of our estimation method. The 5 mm and 10 mm diameter spherical tumor models located in the tissue models were estimated 3.3 mm and 10.7 mm, respectively. This result indicates the possibility that the proposed method enables to estimate the thickness of a tumor within an organ.</p>
Journal
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- IEEJ Transactions on Sensors and Micromachines
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IEEJ Transactions on Sensors and Micromachines 136 (9), 377-383, 2016
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390001204460637056
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- NII Article ID
- 130005262091
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- NII Book ID
- AN1052634X
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- ISSN
- 13475525
- 13418939
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- NDL BIB ID
- 027650290
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed