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A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra
A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra
Electronic Thesis and Dissertation Repository
Manual palpation of tissue is frequently used in open surgery, e.g., for localization of tumors and buried vessels and for tissue characterization. The overall objective of this work is to explore how tissue palpation can be performed in Robot-Assisted Minimally Invasive Surgery (RAMIS) using laparoscopic instruments conventionally used in RAMIS. This thesis presents a framework where a surgical tool is moved teleoperatively in a manner analogous to the repetitive pressing motion of a finger during manual palpation. We interpret the changes in parameters due to this motion such as the applied force and the resulting indentation depth to accurately determine …