Advisor : Cheng-Hsin Chuang Advisee ﹕ Tsan-Hsiu Li Department of Mechanical Engineering Southern Taiwan University Date ﹕ 2013/9/13 Paper Survey Design of Noncontact Tumor Imager for Video-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

2 Outline  Design Concept  Experiment Setup  Experiment Results  Basic Experiment  Human Lung Experiments  Animal Lung Experiments  Clinical Application  Future Works

u(t) = A 1 sin(2πft) + A 2 z(s0, t) = B 1 sin(2πft + α) + B 2 A 1 :amplitude of the vibrating component of the input force A 2 :constant component of the input force B 1 :amplitude of vibrating component of the displacement sensor B 2 :constant component of the output of the displacement sensor Fig. 3. Overview of the prototype sensor head. Design Concept 3 Fig. 2. Basic principle of noncontact tumor imager. Air Input Sensor output Lissajous Diagram

Experiment Setup Fig. 4. Basic experimental setup.

5 f =40Hz Input pressure=0.15MPa Slider Speed =10mm/s Basic Experiment  With normal surface (white).  With colored surface (red and black). Silicone object

6 Human Lung Experiments  The normal tissue  The tumor tissue Input pressure=0.15MPa f =40Hz d s =10~20mm

Animal Lung Experiments 7 Fig. 10. Detection results of artificial tumors. Input pressure=0.15MPa f =30Hz Di=5,8,10mm Di/De ≥ 1 mm

Clinical Application 8 (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. 9

Future Works 10

11 Thanks for your attention