Robot assisted electrical impedance scanning for tissue bioimpedance spectroscopy measurement

Intraoperative tissue identification is important and frequently required in modern surgical approaches for guiding operation. For this purpose, a novel robot assisted sensing system equipped with a wide-band impedance spectroscope is developed. Without introducing an external sensor probe to the op...

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Bibliographic Details
Published in:Measurement : journal of the International Measurement Confederation 2022-05, Vol.195, p.111112, Article 111112
Main Authors: Cheng, Zhuoqi, Dall’Alba, Diego, Schwaner, Kim Lindberg, Fiorini, Paolo, Savarimuthu, Thiusius Rajeeth
Format: Article
Language:English
Subjects:
Algorithms
Bioimpedance Spectroscopy
Conductivity
Electric currents
Electrical impedance
Electrical measurement
Electrical resistivity
Electrodes position control
Inspection
Measurement
Remote sensing
Robot-Assisted Minimally Invasive Surgery
Robotics
Robots
Sensors
Support vector machines
Tissue engineering
Tissue identification
Tri-polar sensing configuration
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Summary:Intraoperative tissue identification is important and frequently required in modern surgical approaches for guiding operation. For this purpose, a novel robot assisted sensing system equipped with a wide-band impedance spectroscope is developed. Without introducing an external sensor probe to the operating site, the proposed system incorporates two robotic instruments for electric current excitation and voltage measurement. Based on the developed measurement strategy and algorithm, the electrical conductivity and permittivity of the tissue region can be calculated. Experiments based on simulation, salines and ex-vivo tissue phantoms are conducted. The experimental results demonstrate that the proposed system has a high measurement accuracy (≥97%). Through a simple support vector machine, a 100% accuracy is achieved for identifying five different tissues. Given the convincing results, the presented sensing system shows great potential in offering effective, fast, and safe tissue inspection. •Development of a method for wide-band impedance spectroscopic measurement and an algorithm to compute tissue conductivity and permittivity.•Hardware realization and control strategy for a reliable and noise resistant tri-polar sensing setup compatible with robot-assisted minimally invasive surgery.•Enhanced measurement accuracy by optimizing electrode positioning in the measurement protocol.
ISSN:0263-2241
1873-412X
DOI:10.1016/j.measurement.2022.111112