Skip to main content
Log in

Softness sensing probe with multiple acoustic paths for laparoscopic surgery

  • Original Article
  • Published:
International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Surgeon’s tactile sense is restricted during laparoscopic surgery. We aim to develop a softness sensing probe for endometriosis. Identification of the boundary of the lesion through a tactile sensor during laparoscopic surgery can provide an appropriate cut line, reducing excessive cut.

Method

We expand our acoustic reflection-based sensing to the proposed probe, which has three force-sensing points to measure the softness of the object. The compensation of the sensor posture with the three sensor outputs was additionally proposed. This sensor has a simple structure and no electrical elements in the part inserted into the body. The sensing principle was verified using the theoretical analysis. Fundamental experiment to make the estimation model and evaluation test with the simulated environment were conducted.

Result

The fundamental experiment showed that different softness can be estimated and that leave-one-out cross-validation resulted that the root-mean-square-error of the softness estimation was 31.5 kPa within the range of 7.5° in the probe posture. Samples which have similar softness as normal and lesioned uterus were used for the evaluation test using laparoscopic box trainer and a general trocar. Six participants operated the sensor, and the results showed that the samples were significantly discriminated by the softness estimated.

Conclusion

The experimental results showed that the sensor can estimate the softness while compensating the posture and discriminate model samples of normal and lesioned uterus in the simulated environment, indicating the possibility of boundary identification between normal and lesioned tissues during laparoscopic surgery of endometriosis.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15

Similar content being viewed by others

References

  1. Darvish B, Najarian S, Shirzad E, Khodambashi R (2009) A novel tactile force probe for tissue stiffness classification. Am J Appl Sci 6(3):512–517

    Article  Google Scholar 

  2. Li J, Liu H, Althoefer K, Seneviratne L (2012) A stiffness probe based on force and vision sensing for soft tissue diagnosis. In: Proceeding of annual international conference of the IEEE engineering in medicine and biology society. pp 944–947

  3. Watanabe T, Iwai T, Koyama T, Yoneyama T (2016) Stiffness measurement system using endoscopes with a visualization method. IEEE Sens J 16(15):5889–5897

    Article  Google Scholar 

  4. Wanninayake I, Seneviratne L, Althoefer K (2012) Novel indentation depth measuring system for stiffness characterization in soft tissue palpation. In: Proceeding of IEEE international conference on robotics and automation. pp 4648–4653

  5. Omata S, Murayama Y, Constantinou CE (2004) Real time robotic tactile sensor system for the determination of the physical properties of biomaterials. Sens Actuators, A 112(2–3):278–285

    Article  CAS  Google Scholar 

  6. Peng Q, Omata S, Peehl D M, Constantinou C E (2011) Stiffness mapping prostate biopsy samples using a tactile sensor. In: Proceeding of annual international conference of the IEEE engineering in medicine and biology society. pp 8515–8518

  7. Zhao Y, Zhang TB, Bao CH, Chen XY, Wang Y, Wang Q (2013) Physical properties of gastrointestinal stromal tumors based on atomic force microscope analysis. Genet Mol Res 12(4):5774–5785

    Article  CAS  PubMed  Google Scholar 

  8. Litwiller DV, Mariappan YK, Ehman RL (2012) Magnetic resonance elastography. Curr Med Imaging Rev 8(1):46–55

    Article  PubMed  PubMed Central  Google Scholar 

  9. Srinivasan MA, Lamotte RH (1995) Tactual discrimination of softness. J Neurophysiol 73(1):88–105

    Article  CAS  PubMed  Google Scholar 

  10. Peng P, Sezen A, Rajamani R, Erdman A (2009) Novel MEMS stiffness sensor for in vivo tissue characterization measurement. In: Proceeding of annual international conference of the IEEE engineering in medicine and biology society. pp 6640–6643

  11. Sokhanvar S, Packirisamy M, Dargahi J (2007) A multifunctional PVDF-based tactile sensor for minimally invasive surgery. Smart Mater Struct 16(4):989

    Article  CAS  Google Scholar 

  12. Kalantari M, Ramezanifard M, Ahmadi R, Dargahi J, Kovecses JA (2011) Piezoresistive tactile sensor for tissue characterization during catheter-based cardiac surgery. Int J Med Robot Comput Assist Surg 7(4):431–440

    Article  Google Scholar 

  13. Sokhanvar S, Packirisamy M, Dargahi J (2009) MEMS endoscopic tactile sensor: toward in- situ and in-vivo tissue softness characterization. IEEE Sens J 9(12):1679–1687

    Article  Google Scholar 

  14. Leng H, Lin Y (2009) Development of a novel deformation-based tissue softness sensor. IEEE Sens J 9(5):548–554

    Article  Google Scholar 

  15. Tanii R, Nguyen T, Takahata T, Shimoyama I (2018) Elasticity sensor using different tactile properties on one chip. In: Proceedings of IEEE international conference on micro electro mechanical systems. pp 862–865

  16. Faragasso A, Bimbo J, Yamashita A, Asama H (2018) Disposable stiffness sensor for endoscopic examination. In: Proceeding of annual international conference of the IEEE engineering in medicine and biology society. pp 4309–4312

  17. Faragasso A, Stilli A, Bimbo J, Wurdemann H, Althoefer K (2015) Multi-axis stiffness sensing device for medical palpation. In: Proceeding of IEEE/RSJ international conference on intelligent robots and systems. pp 2711–2716

  18. Tanaka Y, Fukuda T, Fujiwara M, Sano A (2015) Tactile sensor using acoustic reflection for lump detection in laparoscopic surgery. Int J Comput Assist Radiol Surg 10(2):183–193

    Article  PubMed  Google Scholar 

  19. Takayama Y, Tanaka Y, Fukuda T, Miura H, Terada Y (2019) Soft wearable tactile sensor for softness evaluation through internal examination. In: Proceeding of IEEE international conference on systems, man and cybernetics. pp 3210–3215

  20. Fujii Y, Okamoto S, Yamada Y (2014) Interactive forces caused by scanning wavy surfaces. In: Proceeding of IEEE haptics symposium. pp 449–453

  21. Van Kuilenburg J, Masen M, van der Heide E (2012) The role of the skin microrelief in the contact behaviour of human skin contact between the human finger and regular surface textures. Tribol Int 65:81–90

    Article  Google Scholar 

  22. Pailler-Mattei C, Zahouani H (2006) Analysis of adhesive behaviour of human skin in vivo by an indentation test. Tribol Int 39(1):81–90

    Article  Google Scholar 

  23. Zhou L, Lee J, Wen Y, Constantinou CE, Murayama Y, Omata S, Chen B (2012) Biomechanical properties and associated collagen composition in vaginal tissue of women with pelvic organ prolapse. J Urol 118(3):875–880

    Article  Google Scholar 

  24. Jalkanen V, Andersson BM, Bergh A, Ljungberg B, Lindahl OA (2006) Prostate tissue stiffness as measured with a resonance sensorsystem: a study on silicone and human prostate tissue in vitro. Med Biol Eng Comput 44(7):593–603

    Article  PubMed  Google Scholar 

  25. Fukuda T, Tanaka Y, Kappers A, Fujiwara M, Sano A (2018) Visual and tactile feedback for a direct-manipulating tactile sensor in laparoscopic palpation. Int J Med Robot Comput Assist Surg 14(2):1–13

    Article  Google Scholar 

  26. Kimura F, Yamamoto A, Higuchi T (2010) Development of a 2-DOF softness feeling display for tactile tele-presentation of deformable surfaces. In: Proceeding of IEEE international conference on robotics and automation. pp 1822–1827

  27. Bianchi M, Serio A (2015) Design and characterization of a fabric-based softness display. IEEE Trans Haptics 8(2):152–163

    Article  PubMed  Google Scholar 

Download references

Acknowledgements

This research was funded in part by the JSPS Grant-in-Aid for Scientific Research (A) (No. JP17H01252).

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Taku Ukai.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of interest.

Ethical approval

All procedures performed in studies involving human participants were in accordance with the ethical standards of the research ethics committee of Nagoya Institute of Technology and with the 1964 Helsinki declaration and its later amendments or comparable ethical standards.

Informed consent

Informed consent was obtained from all individual participants included in the study.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Ukai, T., Tanaka, Y., Fukuda, T. et al. Softness sensing probe with multiple acoustic paths for laparoscopic surgery. Int J CARS 15, 1537–1547 (2020). https://doi.org/10.1007/s11548-020-02207-x

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11548-020-02207-x

Keywords

Navigation