Evaluation of a New Method for Detection of Kidney Stone during Laparoscopy Using 3D Conceptual Modeling
Minimally invasive surgery (MIS) is now being widely used as a preferred choice for various types of operations. The need to detect various tactile properties, justifies the key role of tactile sensing that is currently missing in MIS. In this regard, Laparoscopy is one of the methods of minimally invasive surgery that can be used in kidney stone removal surgeries. At this moment, determination of the exact location of stone during laparoscopy is one of the limitations of this method that no scientific solution has been found for so far. Artificial tactile sensing is a new method for obtaining the characteristics of a hard object embedded in a soft tissue. Artificial palpation is an important application of artificial tactile sensing that can be used in different types of surgeries. In this study, a new method for determining the exact location of stone during laparoscopy is presented. In the present study, the effects of stone existence on the surface of kidney were investigated using conceptual 3D model of kidney containing a simulated stone. Having imitated palpation and modeled it conceptually, indications of stone existence that appear on the surface of kidney were determined. A number of different cases were created and solved by the software and using stress distribution contours and stress graphs, it is illustrated that the created stress patterns on the surface of kidney show not only the existence of stone inside, but also its exact location. So three-dimensional analysis leads to a novel method of predicting the exact location of stone and can be directly applied to the incorporation of tactile sensing in artificial palpation, helping surgeons in non-invasive procedures.
[1] M. Mack, "Minimally Invasive and Robotic Surgery", Opportunities
for Medical Research, 2001, vol. 285 (No. 5), p. 568-572.
[2] H.H. Melzer, M.O. Schur, W. Kunert, G. Buess, U. Voges, J.U.
Meyer, "Intelligent Surgical Instrument System", Journal. of
Endoscopic Surgery, 1993, vol. 1, p. 165-170.
[3] B. Deml, T. Ortmaier, U. Seibold, "The touch, and feel in minimally
invasive surgery", IEEE Int. workshop on haptic audio visual
environments and their applications 2005, p. 33-38.
[4] M. Ottermo, O. Stavdahl, T. Johansen, "Palpation instrument for
augmented minimally invasive surgery", Proc. IEEE/RSJ Int. conf.
on intelligent robots, and systems 2004, p. 3960-3964.
[5] R. D. Howe, W. J. Peine, D. A. Kontarinis, J. S. Son, "Remote
palpation technology", Proc IEEE Eng Med Biol Mag 1994, vol. 14
(No. 3), p. 318-323.
[6] A. Novick, J. Jones, I. Gill, E. Klein, R.Rackley, J.Ross, "Operative
Urology at the Cleveland Clinic", Humana Press, 2006, p. 65-88.
[7] P. Dario, "Tactile Sensing-Technology and Applications", Sensors
and Actuators A-Physical, 1991, vol. 26, p. 251-261.
[8] M.H. Lee, "Tactile Sensing: New Directions, New Challenges", The
International J. of Robotics Research 2000, vol. 19, p. 636-643.
[9] J. Dargahi, S. Najarian, "Advances in Tactile Sensors
Design/Manufacturing and Its Impact on Robotic Application, A
review", Indus Robot, 2005, vol. 32 (No. 3), p. 268-281.
[10] J. Dargahi, S. Najarian, "Human tactile perception as a standard for
artificial tactile sensing, A review", Int J Med Robot Comput Assist
Surg, 2004, vol. 1 (No. 13), p. 23-35.
[11] M. Shikida, T. Shimizu, K. Sato, K. Itoigawa, "Active tactile sensor
for detecting contact force and hardness of an object", Sensors
Actuators A, 2003, vol. 103, p. 213-218.
[12] Y. Murayama, C.E. Constantinou, S. Omata, "Development of
Tactile Mapping System for the Stiffness Characterization of Tissue
Slice using Novel Tactile Sensing Technology", Sensors and
Actuators A-Physical, 2005, vol. 120, p. 543-549.
[13] J. S. Son, M. R. Cutkosky, R. D. Howe, "Comparison of contact
sensor localization abilities during manipulation", Robot Auton Syst
1996, vol. 17, p. 217-233.
[14] S. Najarian, J. Dargahi, V. Mirjalili, "Detecting Embedded Objects
using Haptics with Applications in Artificial Palpation of Tumors",
Sensors & Materials, 2006, vol. 18 (No. 4), p. 215-229.
[15] S. Najarian, J. Dargahi, X. Z. Zheng, "A novel method in measuring
the stiffness of sensed objects with applications for biomedical
robotic systems", Int J Med Robot Comput Assist Surg, 2006, vol. 2,
p. 84-90.
[16] J. Zeng, Y. Wang, M. T. Freedman, S. K. Mum, "Finger tracking for
breast palpation quantification using color image features", SPIE J
Opt Eng, 1997, vol. 36 (No. 12), p. 3455-3461.
[17] J. Dargahi, S. Najarian, "Analysis of a membrane type
polymericbased tactile sensor for biomedical and medical robotic
applications", Sensor Mater, 2004, vol. 16 (No. 1), p. 25-41.
[18] P. S. Wellman, R. D. Howe, "Extracting features from tactile maps",
Division of Engineering and Applied Science 1999, Harvard
University, Cambridge, MA 02138, USA.
[19] M. Shikida, T. Shimizu, K. Sato, K. Itoigawa, "Active tactile sensor
for detecting contact force and hardness of an object", Sensors
Actuators A 2003, vol. 103, p. 213-218.
[20] M. H. Lee, H. R. Nicholls, "Tactile sensing for mechatronics - a
stateof- the-art survey", Mechatronics, 1999, vol. 9 (No. 1), p. 1-31.
[21] R. M. Crowder, "Automation and robotics",
www.soton.ac.uk/~rmc1/robotics/artactile.htm
[22] J. Dargahi, S. Payandeh, "Surface texture measurement by
combining signals from two sensing elements of a piezoelectric
tactile sensor", Proceedings of the SPIE International Conference
on Sensor Fusion 1998, Orlando, FL, USA, p.122-128.
[23] A.E. Kerdoke, S.M. Cotin., M.P. Ottensmeyer, A.M. Galea, R.D.
Howe, S.L. Dawson, "Truth Cube: Establishing Physical Standard
for Soft Tissue Simulation", Medical Image Analysis, 2003, vol. 7,
p. 283-291.
[24] A. El-Baz, R. Fahmi, S. Yuksel, A.A. Farag, W. Miller, M.A. El-
Ghar, T. Eldiasty, "A New CAD System for the Evaluation of
Kidney Diseases Using DCE-MRI", Berlin Heidelberg: Springer-
Verlag, 2006, LNCS 4191, p. 446-453.
[25] N.P. Cohen, H.N. Whitfield, "Mechanical Testing of Urinary
Calculi", World Journal of Urology, 1993, vol. 11, p. 13-18.
[26] M. Hosseini, S. Najarian, S. Motaghinasab, J. Dargahi, "Detection
of tumours using a computational tactile sensing approach", Int J
Med Robotics Comput Assist Surg, 2006, vol. 2, p. 333-340.
[1] M. Mack, "Minimally Invasive and Robotic Surgery", Opportunities
for Medical Research, 2001, vol. 285 (No. 5), p. 568-572.
[2] H.H. Melzer, M.O. Schur, W. Kunert, G. Buess, U. Voges, J.U.
Meyer, "Intelligent Surgical Instrument System", Journal. of
Endoscopic Surgery, 1993, vol. 1, p. 165-170.
[3] B. Deml, T. Ortmaier, U. Seibold, "The touch, and feel in minimally
invasive surgery", IEEE Int. workshop on haptic audio visual
environments and their applications 2005, p. 33-38.
[4] M. Ottermo, O. Stavdahl, T. Johansen, "Palpation instrument for
augmented minimally invasive surgery", Proc. IEEE/RSJ Int. conf.
on intelligent robots, and systems 2004, p. 3960-3964.
[5] R. D. Howe, W. J. Peine, D. A. Kontarinis, J. S. Son, "Remote
palpation technology", Proc IEEE Eng Med Biol Mag 1994, vol. 14
(No. 3), p. 318-323.
[6] A. Novick, J. Jones, I. Gill, E. Klein, R.Rackley, J.Ross, "Operative
Urology at the Cleveland Clinic", Humana Press, 2006, p. 65-88.
[7] P. Dario, "Tactile Sensing-Technology and Applications", Sensors
and Actuators A-Physical, 1991, vol. 26, p. 251-261.
[8] M.H. Lee, "Tactile Sensing: New Directions, New Challenges", The
International J. of Robotics Research 2000, vol. 19, p. 636-643.
[9] J. Dargahi, S. Najarian, "Advances in Tactile Sensors
Design/Manufacturing and Its Impact on Robotic Application, A
review", Indus Robot, 2005, vol. 32 (No. 3), p. 268-281.
[10] J. Dargahi, S. Najarian, "Human tactile perception as a standard for
artificial tactile sensing, A review", Int J Med Robot Comput Assist
Surg, 2004, vol. 1 (No. 13), p. 23-35.
[11] M. Shikida, T. Shimizu, K. Sato, K. Itoigawa, "Active tactile sensor
for detecting contact force and hardness of an object", Sensors
Actuators A, 2003, vol. 103, p. 213-218.
[12] Y. Murayama, C.E. Constantinou, S. Omata, "Development of
Tactile Mapping System for the Stiffness Characterization of Tissue
Slice using Novel Tactile Sensing Technology", Sensors and
Actuators A-Physical, 2005, vol. 120, p. 543-549.
[13] J. S. Son, M. R. Cutkosky, R. D. Howe, "Comparison of contact
sensor localization abilities during manipulation", Robot Auton Syst
1996, vol. 17, p. 217-233.
[14] S. Najarian, J. Dargahi, V. Mirjalili, "Detecting Embedded Objects
using Haptics with Applications in Artificial Palpation of Tumors",
Sensors & Materials, 2006, vol. 18 (No. 4), p. 215-229.
[15] S. Najarian, J. Dargahi, X. Z. Zheng, "A novel method in measuring
the stiffness of sensed objects with applications for biomedical
robotic systems", Int J Med Robot Comput Assist Surg, 2006, vol. 2,
p. 84-90.
[16] J. Zeng, Y. Wang, M. T. Freedman, S. K. Mum, "Finger tracking for
breast palpation quantification using color image features", SPIE J
Opt Eng, 1997, vol. 36 (No. 12), p. 3455-3461.
[17] J. Dargahi, S. Najarian, "Analysis of a membrane type
polymericbased tactile sensor for biomedical and medical robotic
applications", Sensor Mater, 2004, vol. 16 (No. 1), p. 25-41.
[18] P. S. Wellman, R. D. Howe, "Extracting features from tactile maps",
Division of Engineering and Applied Science 1999, Harvard
University, Cambridge, MA 02138, USA.
[19] M. Shikida, T. Shimizu, K. Sato, K. Itoigawa, "Active tactile sensor
for detecting contact force and hardness of an object", Sensors
Actuators A 2003, vol. 103, p. 213-218.
[20] M. H. Lee, H. R. Nicholls, "Tactile sensing for mechatronics - a
stateof- the-art survey", Mechatronics, 1999, vol. 9 (No. 1), p. 1-31.
[21] R. M. Crowder, "Automation and robotics",
www.soton.ac.uk/~rmc1/robotics/artactile.htm
[22] J. Dargahi, S. Payandeh, "Surface texture measurement by
combining signals from two sensing elements of a piezoelectric
tactile sensor", Proceedings of the SPIE International Conference
on Sensor Fusion 1998, Orlando, FL, USA, p.122-128.
[23] A.E. Kerdoke, S.M. Cotin., M.P. Ottensmeyer, A.M. Galea, R.D.
Howe, S.L. Dawson, "Truth Cube: Establishing Physical Standard
for Soft Tissue Simulation", Medical Image Analysis, 2003, vol. 7,
p. 283-291.
[24] A. El-Baz, R. Fahmi, S. Yuksel, A.A. Farag, W. Miller, M.A. El-
Ghar, T. Eldiasty, "A New CAD System for the Evaluation of
Kidney Diseases Using DCE-MRI", Berlin Heidelberg: Springer-
Verlag, 2006, LNCS 4191, p. 446-453.
[25] N.P. Cohen, H.N. Whitfield, "Mechanical Testing of Urinary
Calculi", World Journal of Urology, 1993, vol. 11, p. 13-18.
[26] M. Hosseini, S. Najarian, S. Motaghinasab, J. Dargahi, "Detection
of tumours using a computational tactile sensing approach", Int J
Med Robotics Comput Assist Surg, 2006, vol. 2, p. 333-340.
@article{"International Journal of Medical, Medicine and Health Sciences:49852", author = "Elnaz Afshari and Siamak Najarian and Naser Simforoosh and Siamak Hajizadeh Farkoush", title = "Evaluation of a New Method for Detection of Kidney Stone during Laparoscopy Using 3D Conceptual Modeling", abstract = "Minimally invasive surgery (MIS) is now being widely used as a preferred choice for various types of operations. The need to detect various tactile properties, justifies the key role of tactile sensing that is currently missing in MIS. In this regard, Laparoscopy is one of the methods of minimally invasive surgery that can be used in kidney stone removal surgeries. At this moment, determination of the exact location of stone during laparoscopy is one of the limitations of this method that no scientific solution has been found for so far. Artificial tactile sensing is a new method for obtaining the characteristics of a hard object embedded in a soft tissue. Artificial palpation is an important application of artificial tactile sensing that can be used in different types of surgeries. In this study, a new method for determining the exact location of stone during laparoscopy is presented. In the present study, the effects of stone existence on the surface of kidney were investigated using conceptual 3D model of kidney containing a simulated stone. Having imitated palpation and modeled it conceptually, indications of stone existence that appear on the surface of kidney were determined. A number of different cases were created and solved by the software and using stress distribution contours and stress graphs, it is illustrated that the created stress patterns on the surface of kidney show not only the existence of stone inside, but also its exact location. So three-dimensional analysis leads to a novel method of predicting the exact location of stone and can be directly applied to the incorporation of tactile sensing in artificial palpation, helping surgeons in non-invasive procedures.
", keywords = "Kidney Stone, Laparoscopic Surgery, Artificial
Tactile Sensing, Finite Element Method.", volume = "3", number = "5", pages = "31-6", }
