Automated real-time correction of intraoperative medical tactile images: sensitivity adjustment and suppression of contact angle artifact

Abstract

Tactile perception is important for various medical applications including surgery. Currently novel devices are available that provide intraoperative mechanoreceptoric registration of tactile images. It is extremely important for endosurgery where standard palpation by surgeon's fingers is impossible. However, methods for automated analysis and even preprocessing of tactile data registered by these devices are not yet sufficiently developed. In this paper we describe two mutually reinforcing methods for preprocessing of tactile data registered by an intraoperative tactile mechanoreceptor. Namely, we address the problem of automated sensitivity adjustment and the problem of contact angle artifact. We also present experimental results that validate the efficiency of the developed methods.

Instrumental Mechanoreceptoric Palpation in Gastrointestinal Surgery

“…Analysis of intraoperative mechanoreceptoric palpation in open surgeries confirmed that a deviation of the contact angle between the tactile mechanoreceptor and the examined tissue from 90° essentially affects tactile images registered by MTEC and complicates their interpretation. As these deviations are unavoidable in laparoscopic surgeries, specific algorithms aimed at suppression of contact angle artifacts were implemented, tested, and included in the MTEC software [ 17 ]. Currently, MTEC software also includes additional preprocessing methods that compensate for the excessive force applied to a mechanoreceptor [ 17 ].…”

“…As these deviations are unavoidable in laparoscopic surgeries, specific algorithms aimed at suppression of contact angle artifacts were implemented, tested, and included in the MTEC software [ 17 ]. Currently, MTEC software also includes additional preprocessing methods that compensate for the excessive force applied to a mechanoreceptor [ 17 ].…”

“…Another limitation of this procedure is the requirement of only small deviations of the contact angle between the tactile mechanoreceptor and the examined tissue from 90°. This limitation was partially overcome by introducing special data processing methods into the MTEC software [ 17 ], but further improvements are desirable. They can be potentially achieved by optimisation of the construction of a tactile mechanoreceptor, particularly its operating head.…”

“…A tactile mechanoreceptor registers tactile data via pressure sensors located in its operating head and wirelessly transmits the results to a computer. A computer processes raw data [ 17 ], performs real-time visualisation of tactile images [ 16 ], and reproduces tactile images on a tactile display, where images can be perceived simply with the use of a finger. Two versions of tactile mechanoreceptors are available ( Figure 1 ).…”

A Greedy Clustering Algorithm Based on Interval Pattern Concepts and the Problem of Optimal Box Positioning

“…The samples were similar to the L-samples utilized in the study [17]-they were made using a soft silicone (Ecoflex 00-10, Shore hardness 00-10A) according to manufacturer's instructions and had a shape of a rectangular block with length, width, and height of 40 mm, 35 mm, and 11 mm, respectively. The difference was in sizes and shapes of hard 6 Journal of Applied Mathematics inclusions enclosed in the samples.…”