Direct mechanical characterization of prostate tissue—a systematic review

Kelly, Niall P.; Flood, Hugh D.; Hoey, David A.; Kiely, Patrick A.; Giri, Subhasis; Coffey, J. Calvin; Walsh, Michael T.

doi:10.1002/pros.23718

Cited by 13 publications

(8 citation statements)

References 50 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Tendon stretch can be minimized by adjusting the center C, as follows; Start with (90°, 𝑥 𝑐 = −𝑟) as initial conditions as shown above. Find the lengths of the tendon segment using (11) for 𝜓𝜖[−90°, 90°] . Find the change in length and perform optimization using (13).…”

Section: B Robot Kinematic Modellingmentioning

confidence: 99%

“…Tremendous progress has been made towards the development of various prostate tissue assessment methods and devices based on direct characterization of mechanical properties of the prostate and imaging such as Ultrasound (US), Magnetic Resonance Imaging (MRI) and elastography [10,11]. Recently, robotic technology has successfully been adopted in the medical field with many surgical robotic systems such as Da Vinci systems commercially on the market and in active research [12,13].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of a tendon driven robotic probe for prostate palpation

Chikweto

Okuyama

Tanaka

2021

2021 43rd Annual International Conference of the IEEE Engineering in Medicine &Amp; Biology Society (EMBC)

View full text Add to dashboard Cite

Palpation is a clinical diagnosis method utilized by physicians to acquire valuable information about the pathological condition of an organ using the sense of touch. This method, however, is subjective. The accuracy depends on the physician's experience and skill. Therefore, to make palpation objective and minimize variability in prostate cancer diagnosis among physicians, an automated palpation system is required. This paper describes the design and experimental evaluation of a 2 Degrees of Freedom (2DoF) tendon driven robotic palpation probe. The probe's palpation motion is controlled by actuating driving tendons using a cable-differential pulley transmission system and a return spring. A kinematic model of the robotic probe was derived. Furthermore, a tendon path length model was geometrically determined, and an optimization method for guide arc center placement to minimize change in tendon length was presented. Preliminary experimental and theoretical results were compared to determine the positioning accuracy. The difference between theoretical pitch angles [0 o ,80 o ] and measured values for the yaw angle range of [0 o , 40 o ] was found to be in the range of 0.03 o ~ 5.06 o .Clinical Relevance-Diagnosis based on manual palpation is often subjective and palpation sensitivity depends on the physician's level of experience and skill . Therefore, an objective method for acquiring tactile information is relevant. Robotic palpation system provides objective and quantitative information for better understanding of the pathological and physiological changes in the tissue using mechanical properties as biomarkers.

show abstract

Section: B Robot Kinematic Modellingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of a tendon driven robotic probe for prostate palpation

Chikweto

Okuyama

Tanaka

2021

2021 43rd Annual International Conference of the IEEE Engineering in Medicine &Amp; Biology Society (EMBC)

View full text Add to dashboard Cite

show abstract

“…Currently, research efforts have focused on two major groups of assessment: imaging techniques (i.e. sonoelastography, ultrasounds or magnetic resonance elastography) and mechanical methods (using quantitative elasticity values to ascertain stiffness or elasticity, which can change in response to disease states) [2]. There is also considerable potential in combining both imaging and mechanical measurement.…”

Section: Introductionmentioning

confidence: 99%

Optical fiber probe for prostate cancer screening: ex vivo study

Iele

Ricciardi

Pecorella

et al. 2023

European Workshop on Optical Fibre Sensors (EWOFS 2023)

View full text Add to dashboard Cite

We developed a miniaturized optical probe, based on a customized Fiber Bragg Grating, for mechanical characterization of biological tissues with sub-millimeter spatial resolution. The probe is integrated inside a metallic cannula (16 gauge) used for clinical applications, and it is driven by a robotic arm (KUKA LBR Med 7). The optical sensor has a resolution of less than 1 mN and measures the force on controlled tissue indentations. The functionality of the sensor was assessed by means of different tests carried out on real prostates obtained from radically surgeries of patients at different stages of the carcinoma (Gleason score from 6 to 8). Specifically, in this work, we demonstrate that our system provides results that are on line with to the biopsy analysis performed before and the surgery. Our findings lay the foundation for the development of compact optical fiber probes, with size compatible with needle/catheter, able to perform in vivo mechanical characterizations of the prostatic tissue with high sensitivity and spatial resolution.

show abstract

“…Indentation tests performed by applying a force on a soft tissue and then recording the resulting deformation are a common approach to determine tissue elasticity. 11 However, many such systems proposed in most studies are bulky and limited to ex vivo setup conditions. This is mainly due to the size constraints of the force sensors used.…”

Section: Introductionmentioning

confidence: 99%

A cable driven robotic palpation system with contact force sensing based on cable tension observation

Chikweto

SATO

Okuyama

et al. 2022

Robotics Computer Surgery

View full text Add to dashboard Cite

Background Prostate Cancer screening based on manual palpation is subjective. Robotic palpation systems can objectively acquire stiffness conditions of the prostate. Methods A 2DoF cable driven robotic system for prostate palpation is proposed. An indirect method to estimate the contact force based on cable tension observation is presented. Kinematic models and a joint angle estimation method to determine the tip position of the probe are derived. Positioning accuracy was verified using an optical marker tracking system and by displacement measurement, respectively. The contact force estimation method was validated on silicone phantom samples. Results A good consistence between the estimated and measured contact force was observed. The contact force was correlated with the elastic modulus of each silicone phantom. There was also a good agreement between the theoretical and the measured tip position. Conclusion In the proposed palpation system, the indirect contact force estimation method is viable and holds potential for the stiffness assessment of the prostate. The tip position vital for palpation can be determined through estimated joint angles.

show abstract

Direct mechanical characterization of prostate tissue—a systematic review

Cited by 13 publications

References 50 publications

Development of a tendon driven robotic probe for prostate palpation

Development of a tendon driven robotic probe for prostate palpation

Optical fiber probe for prostate cancer screening: ex vivo study

A cable driven robotic palpation system with contact force sensing based on cable tension observation

Contact Info

Product

Resources

About