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Force-Sensing-Integrated Flexible Tool for Precise Lesion Resection in Minimally Invasive Breast Surgery.
Peng Wang1, Li Jiang1, Yangjunjian Zhou1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Summary
Minimally invasive breast surgery can be improved with a new force-sensing tool. This technology enhances lesion detection and removal during surgery, increasing complete resection rates.
Area of Science:
- Biomedical Engineering
- Surgical Technology
- Medical Devices
Background:
- Minimally invasive breast surgery faces challenges with incomplete lesion removal.
- Poor ultrasound visualization is a primary limitation in current surgical techniques.
Purpose of the Study:
- To develop a novel force-sensing method for improved tissue boundary assessment.
- To enhance lesion detection and resection completeness in minimally invasive breast surgery.
Main Methods:
- A cutting force detection algorithm was developed using the Intact Lesion Excision System (DILES).
- The algorithm correlates DILES deformation, tension, and cutting force to estimate tissue type.
- Tissue boundaries are assessed by measuring cutting resistance based on hardness differences.
Main Results:
- The developed tool accurately detects cutting forces below 0.05 N.
- Force prediction achieved an RMSE of 0.0116 N and an R² of 0.892.
- Force-sensing guidance increased complete lesion resection rates from 40% to 90% in simulations.
Conclusions:
- The force-sensing approach significantly improves lesion resection completeness.
- This technology shows strong potential for enhancing clinical applications in breast surgery.