Design and Integration of Electrical Bio-Impedance Sensing in a Bipolar Forceps for Soft Tissue Identification: A Feasibility Study

摘要

This paper presents the integration of electrical bio-impedance sensing technology into a bipolar surgical forceps for soft tissue identification during a robotic assisted procedure. The EBI sensing is done by pressing the forceps on the target tissue with a controlled pressing depth and a controlled jaw opening distance. The impact of these 2 parameters are characterized by finite element simulation. Subsequently, an experiment is conducted with 4 types of ex-vivo tissues including liver, kidney, lung and muscle. The experimental results demonstrate that the proposed EBI sensing method can identify these 4 tissue types with an accuracy higher than 92.82%.