advisor : cheng-hsin chuang advisee ﹕ tsan-hsiu li department of mechanical engineering southern...

Advisor : Cheng-Hsin Chuang Advisee Tsan-Hsiu Li﹕

Department of Mechanical EngineeringSouthern Taiwan University

Date 2013/9/13﹕

Paper Survey

Design of Noncontact Tumor Imager forVideo-Assisted Thoracic Surgery

IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 15, NO. 6, DECEMBER 2010

Tomohiro Kawahara, Member, Yoshihiro Miyata, Koichi Akayama, Masazumi Okajima, Makoto Kaneko

Graduate School of Biomedical Sciences, Hiroshima University Hospital, Hiroshima University, Hiroshima , Japan

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Outline

Design Concept

Experiment Setup

Experiment Results Basic Experiment Human Lung Experiments Animal Lung Experiments

Clinical Application

Future Works

u(t) = A1 sin(2πft) + A2

z(s0, t) = B1 sin(2πft + α) + B2

A1:amplitude of the vibrating component of the input forceA2:constant component of the input forceB1:amplitude of vibrating component of the displacement sensorB2:constant component of the output of the displacement sensor

Fig. 3. Overview of the prototype sensor head.

Design Concept

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Fig. 2. Basic principle of noncontact tumor imager.

Air

In

pu

tS

enso

r ou

tpu

t

Lissajous Diagram

Experiment Setup

Fig. 4. Basic experimental setup.

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f =40Hz Input pressure=0.15MPa Slider Speed =10mm/s

Basic Experiment With normal surface (white). With colored surface (red and black).

Silicone objectSilicone object

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Human Lung Experiments The normal tissue The tumor tissueInput pressure=0.15MPa

f =40Hz ds=10~20mm

Animal Lung Experiments

7Fig. 10. Detection results of artificial tumors.

Input pressure=0.15MPa f =30Hz Di=5,8,10mm

Di/De ≥ 1 mm

Clinical Application

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(a)

(c)

Fig. 13. Example of the clinical test (right lobe, 72-year old male, [Di,De ]= [15, 34] mm based on CT). (a) CT image. (b) Overview of the measurement.(c) Real-time detection display

Fig. 12. Developed sensor system for clinical application. Overwiew of the developed sensor system.

Conclusion

1) In a multicolored environment, whereas it is difficult for us to judge a consistent change from the output signal with respect to time.

2) It is desirable that the developed sensor is as small as possible and that it can detect tumors with a ratio of Di/De < 1.

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Future Works

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Thanks for your attention