A novel tumor localization method using haptic palpation based on soft tissue probing data (original) (raw)

Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue

This paper explores methods that make use of visual cues aimed at generating actual haptic sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback-based method capable of conveying 3D haptic information and combining visual haptics with force feedback to enhance the user’s haptic experience. We focused on an application related to tumor identification during palpation and evaluated the proposed method in an experimental study where users interacted with a haptic device and graphical interface while exploring a virtual model of soft tissue, which represented stiffness distribution of a silicone phantom tissue with embedded hard inclusions. The performance of hard inclusion detection using force feedback only, pseudo-haptic feedback only, and the combination of the two feedbacks was compared with the direct hand touch. The combination method and direct hand touch had no significant difference in the detection results. Compared with the force feedback alone, our method increased the sensitivity by 5 %, the positive predictive value by 4 %, and decreased detection time by 48.7 %. The proposed methodology has great potential for robot-assisted minimally invasive surgery and in all applications where remote haptic feedback is needed.

Tissue Stiffness Simulation and Abnormality Localization using Pseudo-Haptic Feedback

This paper introduces a new and low-cost tissue stiffness simulation technique for surgical training and robot-assisted minimally invasive surgery (RMIS) with pseudo-haptic feedback based on tissue stiffness maps provided by rolling mechanical imaging. Superficial palpation and deep palpation pseudo-haptic simulation methods are presented. Although without expensive haptic interfaces users receive only visual feedback (pseudo-haptics) when maneuvering a cursor over the surface of a virtual soft-tissue organ by means of an input device such as a mouse, a joystick, or a touch-sensitive tablet, the alterations to the cursor behavior induced by the method creates the experience of actual interaction with a tumor in the users' minds. The proposed methods are experimentally evaluated for tissue abnormality identification. It is shown that users can recognize tumors with these two methods and the rate of correctly recognized tumors in deep palpation pseudo-haptic simulation is higher than superficial palpation simulation.

Recent Advances in Robot-Assisted Surgery: Soft Tissue Contact Identification

2019 IEEE 13th International Symposium on Applied Computational Intelligence and Informatics (SACI), 2019

Robot-Assisted Minimally Invasive Surgery (RAMIS) is becoming standard-of-care in western medicine. RAMIS offers better patient outcome compared to traditional open surgery, however, the surgeons’ ability to identify the tissues with the sense of touch is missing from most robotic systems. Regarding haptic feedback, the most promising diagnostic technique is probably palpation; a physical contact examination method through which information can be gathered about the underlying structures by gently pressing with the fingers. In open surgery, palpation is widely used to identify blood vessels, tendons or even tumors; and the knowledge on the exact location of such elements is often crucial with respect to the outcome of the intervention. This paper presents a review of the actual research directions in the field of palpation in RAMIS.

Estimation of environmental force for the haptic interface of robotic surgery

The International Journal of Medical Robotics and Computer Assisted Surgery, 2010

BackgroundThe success of a telerobotic surgery system with haptic feedback requires accurate force‐tracking and position‐tracking capacity of the slave robot. The two‐channel force‐position control architecture is widely used in teleoperation systems with haptic feedback for its better force‐tracking characteristics and superior position‐tracking capacity for the maximum stability margin. This control architecture, however, requires force sensors at the end‐effector of the slave robot to measure the environment force. However, it is difficult to attach force sensors to slave robots, mainly due to their large size, insulation issues and also large currents often flowing through the end‐effector for incision or cautery of tissues.MethodsThis paper provides a method to estimate the environment force, using a function parameter matrix and a recursive least‐squares method. The estimated force is used to feed back the force information to the surgeon through the control architecture witho...