Artificial tactile sensing in minimally invasive surgery – a new technical approach

Schostek, Sebastian; Ho, Chi‐Nghia; Kalanovic, D.; Schurr, M. O.

doi:10.1080/13645700600836299

Cited by 87 publications

(55 citation statements)

References 15 publications

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“…One can perform in-vivo or ex-vivo studies on human organs [10], [11]. However the exact location of a tumor can be unknown and, thus, the effectiveness of the examination cannot be evaluated.…”

Section: Introductionmentioning

confidence: 99%

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Konstantinova

Mehra

et al. 2014

IEEE Trans. Biomed. Eng.

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Abstract-Improving the effectiveness of artificial tactile sensors for soft tissue examination and tumor localization is a pressing need in robot-assisted minimally invasive surgery. Despite the availability of tactile probes, guidelines for optimal examination behaviors that best exploit soft tissue properties are not available as yet. Simulations on soft-tissue palpation show that particular stress-velocity patterns of probing lead to constructive dynamic interactions between the probe and the tissue to localize hard nodules. However, there has been no methodical validation of such probing behavioral hypotheses using human participants so far. In this study, we use simulation studies to establish open hypotheses on the interaction and influence of relevant behavioral palpation variables, such as finger velocity and trajectory, force exerted by fingers on the accuracy of detection of embedded nodules. We test them by analyzing palpation strategies used by humans to detect hard nodules inside silicone phantoms and ex-vivo porcine organs. Our findings allow us, for the first time, to derive palpation behavior guidelines suitable for the design of controllers of palpation robots.

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Section: Introductionmentioning

confidence: 99%

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Konstantinova

Mehra

et al. 2014

IEEE Trans. Biomed. Eng.

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“…[7,27,35,38], but no current tactile sensor is able to measure all the quantities perceived by the human finger. A second challenge is the subsequent computer processing of the transduced data to obtain useful information (tactile data processing).…”

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confidence: 99%

Human vs. robotic tactile sensing: Detecting lumps in soft tissue

Gwilliam

Pezzementi

Jantho

et al. 2010

2010 IEEE Haptics Symposium

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Humans can localize lumps in soft tissue using the distributed tactile feedback and processing afforded by the fingers and brain. This task becomes extremely difficult when the fingers are not in direct contact with the tissue, such as in laparoscopic or robot-assisted procedures. Tactile sensors have been proposed to characterize and detect lumps in robot-assisted palpation. In this work, we compare the performance of a capacitive tactile sensor with that of the human finger. We evaluate the response of the sensor as it pertains to robot-assisted palpation and compare the sensor performance to that of human subjects performing an equivalent task on the same set of artificial tissue models. Furthermore, we investigate the effects of various tissue parameters (lump size, lump depth, and surrounding tissue stiffness) on the performance of both the human finger and the tactile sensor. Using signal detection theory for determining tactile sensor lump detection thresholds, the tactile sensor outperforms the human finger in a palpation task.

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“…A tactile sensor for surgical instruments has been introduced by Schostek et al [101]. Similar to a recently presented tactile sensing system for telemanipulator devices [1], the tactile feedback is communicated visually to the surgeon.…”

Section: Organ Shift and Tissue Deformationmentioning

confidence: 99%

Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

Baumhauer

Feuerstein

Meinzer

et al. 2008

Journal of Endourology

163

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Abstract-Despite rapid developments in the research areas medical imaging, medical image processing and robotics, the use of computer assistance in surgical routine is still limited to diagnostics, surgical planning, and interventions on mostly rigid structures. In order to establish a computer aided workflow from diagnosis to surgical treatment and follow-up, several proposals for computer assisted soft tissue interventions have been made in recent years. By means of different pre-and intraoperative information sources, like surgical plannings, intraoperative imaging, and tracking devices, surgical navigation systems aim at supporting surgeons in localizing anatomical targets, observing critical structures, and sparing healthy tissue. Current research in particular addresses the problem of organ shift and tissue deformation, and obstacles in communication between navigation system and surgeon.In this article, we review computer assisted navigation systems for soft tissue surgery. We concentrate on approaches which can be applied in endoscopic thoracic and abdominal surgery, as endoscopic surgery has special needs for image guidance due to limitations in perception. Furthermore, this article provides the reader with new trends and technologies in the area of computer assisted surgery. Finally, a balancing of key challenges and possible benefits of endoscopic navigation refines the perspectives of this increasingly important discipline of computer aided medical procedures.

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Artificial tactile sensing in minimally invasive surgery – a new technical approach

Cited by 87 publications

References 15 publications

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues

Human vs. robotic tactile sensing: Detecting lumps in soft tissue

Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

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