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IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 15, NO. 6, DECEMBER 2010
Design of Noncontact Tumor Imager for
Video-Assisted Thoracic Surgery
Tomohiro Kawahara, Member, Yoshihiro Miyata, Koichi Akayama, Masazumi Okajima, Makoto Kaneko
Graduate School of Biomedical Sciences, Hiroshima University Hospital, Hiroshima University, Hiroshima , Japan
Paper Survey
Advisor : Cheng-Hsin Chuang
Advisee ﹕Tsan-Hsiu Li
Department of Mechanical Engineering
Southern Taiwan University
Date ﹕2013/9/13
Outline
Design Concept
Experiment Setup
Experiment Results
 Basic Experiment
 Human Lung Experiments
 Animal Lung Experiments
Clinical Application
Future Works
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Design Concept
Sensor output
Air Input
Lissajous Diagram
Fig. 3. Overview of the prototype sensor head.
Fig. 2. Basic principle of noncontact tumor imager.
u(t) = A1 sin(2πft) + A2
z(s0, t) = B1 sin(2πft + α) + B2
A1:amplitude of the vibrating component of
the input force
A2:constant component of the input force
B1:amplitude of vibrating component of the
displacement sensor
B2:constant component of the output of the
displacement sensor
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Experiment Setup
Fig. 4. Basic experimental setup.
Basic Experiment
With normal surface (white).
With colored surface (red and black).
Silicone object
Silicone object
f =40Hz
Input pressure=0.15MPa
Slider Speed =10mm/s
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Human Lung Experiments
The normal tissue
Input pressure=0.15MPa
f =40Hz
ds=10~20mm
The tumor tissue
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Animal Lung Experiments
Input pressure=0.15MPa
f =30Hz
Di=5,8,10mm
Di/De ≥ 1 mm
Fig. 10. Detection results of artificial tumors.
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Clinical Application
(a)
(c)
Fig. 12. Developed sensor system for clinical application. Overwiew of
the developed sensor system.
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) Realtime detection display
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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
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