Noninvasive electrical impedance sensor for in vivo tissue discrimination at radio frequencies.

Compared to traditional open surgery, minimally invasive surgery (MIS) allows for a more rapid and less painful recovery. However, the lack of significant haptic feedback in MIS can make tissue discrimination difficult. This paper tests a noninvasive electrical impedance sensor for in vivo discrimination of tissue types in MIS. The sensor consists of two stainless steel spherical electrodes used to measure the impedance spectra over the frequency range of 200 kHz to 5 MHz. The sensor helps ensure free movement on an organ surface and prevents soft tissues from being injured during impedance measurement. Since the recorded electrical impedance is correlated with the force pressed on the electrode and the mechanical property of the tissue, the electrode-tissue contact impedance is calculated theoretically. We show that the standard deviation of the impedance ratio at each frequency point is sufficient to distinguish different tissue types. Both in vitro experiment in a pig kidney and in vivo experiment in rabbit organs were performed to demonstrate the feasibility of the electrical impedance sensor. The experimental results indicated that the sensor, used with the proposed data-processing method, provides accurate and reliable biological tissue discrimination.