Integration of Force Reflection with Tactile Sensing for Minimally Invasive Robotics-Assisted Tumor Localization

Abstract

Tactile sensing and force reflection have been the subject of considerable research for tumor localization in soft-tissue palpation. The work presented in this paper investigates the relevance of force feedback (presented visually as well as directly) during tactile sensing (presented visually only) for tumor localization using an experimental setup close to one that could be applied for real robotics-assisted minimally invasive surgery. The setup is a teleoperated (master-slave) system facilitated with a state-of-the-art minimally invasive probe with a rigidly mounted tactile sensor at the tip and an externally mounted force sensor at the base of the probe. The objective is to capture the tactile information and measure the interaction forces between the probe and tissue during palpation and to explore how they can be integrated to improve the performance of tumor localization. To quantitatively explore the effect of force feedback on tactile sensing tumor localization, several experiments were conducted by human subjects to locate artificial tumors embedded in the ex vivo bovine livers. The results show that using tactile sensing in a force-controlled environment can realize, on average, 57 percent decrease in the maximum force and 55 percent decrease in the average force applied to tissue while increasing the tumor detection accuracy by up to 50 percent compared to the case of using tactile feedback alone. The results also show that while visual presentation of force feedback gives straightforward quantitative measures, improved performance of tactile sensing tumor localization is achieved at the expense of longer times for the user. Also, the quickness and intuitive data mapping of direct force feedback makes it more appealing to experienced users.

Wireless Tissue Palpation for Intraoperative Detection of Lumps in the Soft Tissue

“…Next steps will consist of improving localization accuracy, [25] reducing the size of the WPP -to achieve a better maneuverability -and in demonstrating how the WPP can be used to assist liver resection in a series of in vivo trials. Blinded studies will be performed, where the operator is not aware of the location/number/stiffness of the buried lumps.…”

“…Another relevant future step will be the optimization of the user interface. This will include a study on the most effective way to convey the acquired information to the surgeon, along the lines of the results reported in [25].…”

Autonomous robotic palpation of soft tissue using the modulation of applied force

“…Specifically, a number of research studies highlight the importance of reliable tactile feedback during Robot-assisted Minimally Invasive Surgery (RMIS) to improve the clinical outcomes [3].…”

DNN-Based Assistant in Laparoscopic Computer-Aided Palpation

“…For instance, there are hand-held devices that are directly manipulated by a surgeon to acquire information about the target tissue (Ottermo et al, 2004;Schostek et al, 2006;Beccani et al, 2014;Escoto et al, 2015;Solodova et al, 2016). Moreover, master-slave surgical systems with a force/tactile sensor (Tavakoli et al, 2006;Talasaz and Patel, 2013;Meli et al, 2016;Pacchierotti et al, 2016;Li et al, 2017) or force estimation by a state observer (Gwilliam et al, 2009;Yamamoto et al, 2012;Schorr et al, 2015) have been developed. In addition, a training simulator for femoral palpation and needle insertion was developed (Coles et al, 2011).…”

“…In addition, a training simulator for femoral palpation and needle insertion was developed (Coles et al, 2011). Among the above-mentioned systems it is common to provide visual feedback, such as by displaying a color map (Schostek et al, 2006;Talasaz and Patel, 2013;Beccani et al, 2014;Escoto et al, 2015;Solodova et al, 2016;Li et al, 2017), a graphical bar (Gwilliam et al, 2009;Schorr et al, 2015), a sequential lamp (Tavakoli et al, 2006), or a color map overlaid on an endoscopic image (Yamamoto et al, 2012). As an additional approach for sensory feedback, a tactile display (Ottermo et al, 2004;Coles et al, 2011;Schorr et al, 2015;Pacchierotti et al, 2016), or force feedback through a master console (Tavakoli et al, 2006;Gwilliam et al, 2009;Schorr et al, 2015;Meli et al, 2016) have either been developed or implemented.…”