Prostate tissue stiffness as measured with a resonance sensor system: a study on silicone and human prostate tissue in vitro

Jalkanen, Ville; Andersson, Britt M.; Bergh, Anders; Ljungberg, Börje; Lindahl, Olof

doi:10.1007/s11517-006-0069-6

Cited by 54 publications

(72 citation statements)

References 17 publications

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“…Delrin is harder than most cancerous tissue, but provides a good contrast against the soft rubber for the purposes of this study. While tissue is difficult to model accurately due to its heterogeneity and variance according to location, we chose materials to represent tissue (ecoflex silicone rubber) and lumps (Delrin) which reasonably approximate an average equivalent contrast in stiffness to that found for lumps in breast [20] and prostate [17,44] tissues.…”

Section: Rubber Modelsmentioning

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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Section: Rubber Modelsmentioning

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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“…5͒, which could be explained by the increased hardness in the cancerous tissue. 12,16 In our 21 cases ͑70 insertions͒, only 11 cases ͑38 insertions͒ that had insertions passing through both the cancerous tissue and normal tissue were included for comparison. The mean forces of all the individual insertions passing through the same type of tissues ͑tumor and normal tissue͒ in the same patients were calculated and compared.…”

Section: Iiia Insertion Force Analysismentioning

confidence: 99%

“…Some researchers analyzed prostate tissue in vitro and showed that there were variations in stiffness between tumor and normal tissue. 12 There were also variations between patients. 13 In general, tumors resulting from abnormal and excessive cell division are harder than the normal healthy tissues.…”

Section: Introductionmentioning

confidence: 99%

A real‐time prostate cancer detection technique using needle insertion force and patient‐specific criteria during percutaneous intervention

Yan

Podder

et al. 2009

Medical Physics

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In this article, the authors present a novel real-time cancer detection technique by using needle insertion forces in conjunction with patient-specific criteria during percutaneous interventions. Needle insertion experiments and pathological analysis were performed for developing a computeraided detection ͑CAD͒ model. Backward stepwise regression method was performed to identify the statistically significant patient-specific factors. A baseline force model was then developed using these significant factors. The threshold force model that estimated the lower bound of the cancerous tissue forces was formulated by adding an adjustable classifier to the baseline force model. Tradeoff between sensitivity and specificity was obtained by varying the threshold value of the classifier, from which the receiver-operating characteristic ͑ROC͒ curve was generated. Sequential quadratic programming was used to optimize the CAD model by maximizing the area under the ROC curve ͑AUC͒ using a set of model-training patient data. When the CAD model was evaluated using an independent set of model-validation patient data, an AUC of 0.90 was achieved. The feasibility of cancer detection in real time during percutaneous interventions was established.

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“…Furthermore, tactile feedback is widely used to gather other valuable tissue information, such as its stiffness, to evaluate the health of the tissue. Tumorous regions are harder than the surrounding tissue [1,2], but they cannot be visually detected; thus, tissue palpation is the only available tool to guide their localization during the procedure. In recent years, MIS surgical pro-…”

Section: Introductionmentioning

confidence: 99%

Wireless tissue palpation: Head characterization to improve tumor detection in soft tissue

Beccani

Natali

Benjamin

et al. 2015

Sensors and Actuators A: Physical

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The sense of touch is a valuable tool for surgeons in open procedures to directly access buried structures and organs, identify their margins, and prevent undesired cuts. Furthermore, as tumors manifest as stiffer than healthy tissues, surgeons rely on touch sensation for their detection. Modern surgical procedures are performed in a minimally invasive way; however, despite the many benefits for patients, it hinders the surgeon's ability to directly interact and manipulate the tissue. Therefore, restoring the sense of touch in Minimally Invasive Surgery (MIS) has been an active research topic, with many novel devices developed by the research community for creating stiffness distribution maps of underlying tissues. We developed in our previous work a Wireless Palpation Probe (WPP) to restore tissue palpation in MIS by creating a real-time stiffness distribution map of the palpated tissue. The WPP takes advantage of a field-based magnetic localization algorithm to measure its position, orientation, and tissue indentation depth in addition to a barometric sensor to measure the indentation tissue pressure. Similarly to other pressure sensors covered by silicone rubber, the deformations of both the tissue and silicone material introduce nonlinearities which detrimentally affect the sensor measurements. In this work, we characterized and calibrated different diameter WPP heads with a new design that allows exchangeability and disposability of the probe head. The benchtop trials showed that this method can effectively reduce the error in the sensor pressure measurements to 5 \% with respect to the reference sensor. This method can be extended to any mechanical tumor probing system where silicone rubber is interposed between the target tissue and the sensing element. Furthermore, we studied the effect of the head diameter on the device spatial resolution to detect different size tumor simulators embedded into different stiffness silicone phantoms. Overall, the results showed a tumor detection rate over 90 %, independent of the head diameter, when an indentation depth of at 5 mm is applied on the tissue simulator. All authors have seen the manuscript and agree to its submission to Sensors and Actuator A: physical. Sincerely, Marco Beccani ----------------------------------------------------------------------- *Manuscript(includes changes marked in red font for revision documents) Click here to view linked ReferencesThe benchtop trials showed that this method can effectively reduce the error in the sensor pressure measurements to 5% with respect to the reference sensor.This method can be extended to any mechanical tumor probing system where silicone rubber is interposed between the target tissue and the sensing element.Furthermore, we studied the effect of the head diameter on the device spatial resolution to detect different size tumor simulators embedded into different stiffness silicone phantoms. Overall, the results showed a tumor detection rate over 90 %, independent of the head diameter, when an indenta...

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Prostate tissue stiffness as measured with a resonance sensor system: a study on silicone and human prostate tissue in vitro

Cited by 54 publications

References 17 publications

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

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

A real‐time prostate cancer detection technique using needle insertion force and patient‐specific criteria during percutaneous intervention

Wireless tissue palpation: Head characterization to improve tumor detection in soft tissue

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