发表机构
TUD Dresden University of Technology; Stanford University; University Hospital Carl Gustav Carus; Centre for Tactile Internet with Human-in-the-Loop (CeTI); National Center for Tumor Diseases (NCT); DKFZ; Helmholtz-Zentrum Dresden-Rossendorf (HZDR); Karlsruhe Institute of Technology (KIT)（德累斯顿工业大学; 斯坦福大学; 卡尔·古斯塔夫·卡鲁斯大学医院; 以人为中心的触觉互联网中心; 国家肿瘤疾病中心; 德国癌症研究中心; 德累斯顿-罗森多夫亥姆霍兹中心; 卡尔斯鲁厄理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对微创手术中触觉反馈缺失问题，研发了专为触诊设计的基于视觉的高分辨率触觉传感器MISTac，经体内研究验证其可用性，训练的机器学习模型在组织分类任务中留一法交叉验证准确率约84%，并开源该传感器。
AI 中文摘要
与传统开放手术相比，微创手术和机器人辅助手术具有诸多优势，但会使外科医生丧失触觉反馈以及用手指触诊组织的能力。为解决触觉反馈缺失的问题，我们推出了MISTac，一种专为微创手术触诊设计的高分辨率基于视觉的触觉传感器。该传感器配备直径8毫米的可更换传感器尖端，使其能够穿过微创手术所用的套管针；其模块化3D打印外壳设计可容纳体积较大的现成照明和成像硬件，且这些硬件易于更换和升级。该传感器的光学分辨率为176.68μm，触觉分辨率为250μm，可分辨低至24.3mN的力。对该传感器开展的体内研究表明其在微创手术中的可用性。我们利用试验中采集的触觉数据训练了一个机器学习模型，用于组织分类任务，在留一法交叉验证中达到了约84%的总体准确率。触觉传感器有望在未来辅助外科医生完成微创手术中的组织分类、术中肿瘤定位等任务；MISTac是朝着这一愿景迈出的一小步。我们在该httpsURL开源了MISTac。
英文摘要
Minimally invasive and robot-assisted surgery offer many advantages over traditional open surgery, but deprive surgeons of tactile feedback and the ability to palpate tissue with their fingers. To address this lack of tactile feedback, we introduce the MISTac, a high resolution vision-based tactile sensor specifically designed for palpation in MIS. The sensor has a replaceable sensor tip with a diameter of 8 mm which allows it to fit through the trocars used in minimally invasive surgery. Its modular 3D-printed case design allows the use of bulky off-the-shelf illumination and imaging hardware that can easily be exchanged and upgraded. The sensor has an optical resolution of 176.68 $μm$, a tactile resolution of 250 $μm$, and can resolve forces as little as 24.3 mN. An in vivo study with the sensor shows its usability in minimally invasive surgery. We trained a machine learning model with the tactile data collected in the trial on a tissue classification task achieving an aggregate accuracy of ~84% in a leave-one-out cross validation. Tactile sensors have the potential to one day aid surgeons during minimally invasive surgery with tasks such as tissue classification or intra-operative tumor localization; MISTac is a small step towards this vision. We open-source MISTac at https://github.com/lasr-lab/mistac
CommentsThis work has been submitted to the IEEE for possible publication
