Artificial tactile feedback can significantly improve tissue examination through remote palpation

Abstract

Our study contributes to the discussion on promising application scenarios of ATF-enhanced instrumentation in laparoscopic surgery. Based on our study results, such instrumentation may be valuable for detection and examination of hidden bodies or structures through remote palpation.

Visual and tactile feedback for a direct‐manipulating tactile sensor in laparoscopic palpation

“…For laparoscopic palpation, a tactile sensor using an optical sensing scheme, a grasper with multiple force‐sensing elements, palpation probes with a pressure sensing array, a wireless sensing capsule and a tactile sensor using a piezoelectric vibrator have been developed. These devices have a long and thin shape like a forceps or a small size like a capsule, which can be grasped by a forceps.…”

Prostate Cancer Detection with a Tactile Resonance Sensor—Measurement Considerations and Clinical Setup

“…During minimally invasive surgery (MIS), assisted with robot technology or laparoscopy the surgeon can only feel the tissue through the instruments, which do not give much feedback regarding tissue composition [ 15 ]. There are recent studies on new techniques to improve the tactile feedback information from such instruments, also including the use of tactile sensors [ 15 , 16 , 17 ]. Tactile resonance sensors connected to the different surgical instruments might be a useful complement to assess tissue stiffness.…”

Reviewing the technological challenges associated with the development of a laparoscopic palpation device

“…The device is compatible with a 10 mm laparoscopic port and a thin protective coating protects the tactile sensor, allowing it to be sterilized for reuse. Schostek et al (14,36) used a similar approach and adapted a conventional 10 mm laparoscopic grasper to integrate a bespoke tactile sensor into the lower jaw of the instrument (Figure 4 (a)). The sensor array operates by measuring the resistivity of a conductive polymer layer sandwiched between substrates incorporating 32 hexagonally spaced sensor nodes that provide a spatial resolution of 1.8 mm over 12.6 Â 8.0 mm and a force range of 0-60 N. A protective rubber coating protects the sensor elements and enables sterilization.…”

“…A similar approach is adopted in other palpation systems (38,60). Schostek et al use an augmented reality approach to integrate palpation information into the existing laparoscopic camera display (36). A 3D representation of the grasper is shown in the top-right of the display with pressure readings displayed as a colour map.…”

“…In this instance only a minimum of data processing is necessary to scale and interpolate the measured pressure map into an appropriate form for the tactile display. Similarly, two systems that use a visually displayed pressure map require minimal data processing to scale and filter the instruments sensor measurements for display . These approaches pass the role of interpreting the data directly to the surgeon who must use prior experience to interpret the pressure maps and distinguish abnormalities.…”