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

Fukuda, Tomohiro; Tanaka, Yoshihiro; Kappers, Astrid M. L.; Fujiwara, Michitaka; Sano, Akihito

doi:10.1002/rcs.1879

Cited by 19 publications

(20 citation statements)

References 30 publications

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“…The geometry of the phantom and the tumor were based on the typical features of the actual stomach wall and tumor. Whereas the stiffness of the phantom was within the stiffness range of the actual stomach wall and tumor (Fukuda et al, 2018), the anatomical structures and boundary conditions were not completely the same. The tumor has a toroidal shape, therefore the sensor output typically responded with two peaks that corresponded to the two edges of the toroidal tumor, as shown in Figure 1.…”

Section: Data Preparationmentioning

confidence: 97%

“…In our previous study, we conducted a psychophysical experiment to investigate the effect of using sensory feedback on tumor detection performance and manipulation behavior (Fukuda et al, 2018). Twelve participants without any medical background participated in the experiment, and they gave their written informed consent before participation.…”

Section: Data Preparationmentioning

confidence: 99%

“…It was shown that the visual feedback was significantly effective in the tumor detection. The details were provided in our previous paper (Fukuda et al, 2018). In this study, we used the data acquired under the condition of visual feedback, because we aimed to replace the participants' decision through visual channel with the algorithm.…”

Section: Data Preparationmentioning

confidence: 99%

“…This sensor has important advantages for surgical applications: there are no electrical elements within the portion inserted into the patient's body, it can be sterilized, and it is disposable. Moreover, we investigated the effects of visual and tactile feedback from the sensor, which was being directly manipulated by the user for laparoscopic tumor detection (Fukuda et al, 2018). A line graph showing the time series of the sensor output was provided as the visual feedback.…”

mentioning

confidence: 99%

“…Moreover, the method of determining the detection criterion is proposed, by investigating the relationship between accuracy and various detection criteria. In this paper, we aim to investigate the feasibility of the proposed algorithm by using the data acquired in our previous psychophysical experiment (Fukuda et al, 2018). In this experiment, 12 novice participants were asked to detect a phantom of an early-stage gastric tumor, under various conditions of sensory feedback.…”

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confidence: 99%

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DNN-Based Assistant in Laparoscopic Computer-Aided Palpation

et al. 2018

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Tactile sensory input of surgeons is severely limited in minimally invasive surgery, therefore manual palpation cannot be performed for intraoperative tumor detection. Computer-aided palpation, in which tactile information is acquired by devices and relayed to the surgeon, is one solution for overcoming this limitation. An important design factor is the method by which the acquired information is fed back to the surgeon. However, currently there is no systematic method for achieving this aim, and it is possible that a badly implemented feedback mechanism could adversely affect the performance of the surgeon. In this study, we propose an assistance algorithm for intraoperative tumor detection in laparoscopic surgery. Our scenario is that the surgeon manipulates a sensor probe, makes a decision based on the feedback provided from the sensor, while simultaneously, the algorithm analyzes the time series of the sensor output. Thus, the algorithm assists the surgeon in making decisions by providing independent detection results. A deep neural network model with three hidden layers was used to analyze the sensor output. We propose methods to input the time series of the sensor output to the model for real-time analysis, and to determine the criterion for detection by the model. This study aims to validate the feasibility of the algorithm by using data acquired in our previous psychophysical experiment. There, novice participants were asked to detect a phantom of an early-stage gastric tumor through visual feedback from the tactile sensor. In addition to the analysis of the accuracy, signal detection theory was employed to assess the potential detection performance of the model. The detection performance was compared with that of human participants. We conducted two types of validation, and found that the detection performance of the model was not significantly different from that of the human participants if the data from a known user was included in the model construction. The result supports the feasibility of the proposed algorithm for detection assistance in computer-aided palpation.

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Section: Data Preparationmentioning

confidence: 97%

Section: Data Preparationmentioning

confidence: 99%

Section: Data Preparationmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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DNN-Based Assistant in Laparoscopic Computer-Aided Palpation

et al. 2018

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SuP‐Ring: A pneumatic tactile display with substitutional representation of contact force components using normal indentation

Tanaka

Fujiwara

2021

Robotics Computer Surgery

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Background: Shear force is important for tumour detection and can contribute to minimally invasive surgery (MIS). A popular method uses lateral skin stretch to produce shear force but has some limitations. Methods:We have developed a ring-type pneumatic tactile display that employs normal indentation substituted for lateral skin stretch to represent normal and shear feedback, called SuP-Ring. Psychophysical experiments were conducted to evaluate how users perceive the provided feedback and the effectiveness of SuP-Ring in tumour localisation. Results:The experimental results show that the participants could perceive the provided normal and shear feedback well. Shear feedback enables users to enhance their performance in localising the tumour and normal feedback could contribute to ensuring the safety requirements in MIS. Conclusions:The proposed tactile display could be useful for intraoperative tumour localisation and has the potential to be used in a wide variety of applications.

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