ArticleMedical & biological engineering & computing2012
Robotic palpation and mechanical property characterization for abnormal tissue localization.
Article in Medical & biological engineering & computing, 2012. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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Who cites it
16 citing papers in PubMed, 58 citations in OpenAlex.
- Multimodal Cross-Attention Fusion of B-Mode Ultrasound and Strain Elastography for Tumor Segmentation in Robotics-Assisted Surgery.IEEE transactions on medical robotics and bionics · 2026Article
- Review
- A Minimally Invasive Robotic Tissue Palpation Device.IEEE transactions on bio-medical engineering · 2024Article
- Tissue palpation in endoscopy using EIT and soft actuators.Frontiers in robotics and AI · 2024Article
- Transparent Pneumatic Tactile Sensors for Soft Biomedical Robotics.Sensors (Basel, Switzerland) · 2023Article
- iApp: An Autonomous Inspection, Auscultation, Percussion, and Palpation Platform.Frontiers in physiology · 2022Article
- Analyzing Liver Surface Indentation for In Vivo Refinement of Tumor Location in Minimally Invasive Surgery.Annals of biomedical engineering · 2021Article
- A novel palpation-based method for tumor nodule quantification in soft tissue-computational framework and experimental validation.Medical & biological engineering & computing · 2020Article
- Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe.PloS one · 2020Article
- Design of a Drop-in EBI Sensor Probe for Abnormal Tissue Detection in Minimally Invasive Surgery.Journal of electrical bioimpedance · 2020Article
- A novel method for rapid and quantitative mechanical assessment of soft tissue for diagnostic purposes: A computational study.International journal for numerical methods in biomedical engineering · 2018Article
- Histology-based homogenization analysis of soft tissue: application to prostate cancer.Journal of the Royal Society, Interface · 2017Article
- Patient specific modeling of palpation-based prostate cancer diagnosis: effects of pelvic cavity anatomy and intrabladder pressure.International journal for numerical methods in biomedical engineering · 2016Article
- Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe.Medical & biological engineering & computing · 2014Article
- Optical-based artificial palpation sensors for lesion characterization.Sensors (Basel, Switzerland) · 2013Article
- Local property characterization of prostate glands using inhomogeneous modeling based on tumor volume and location analysis.Medical & biological engineering & computing · 2013Article
Corrections and comments
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Authors and funding
4 authors at 3 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Palpation is an intuitive examination procedure in which the kinesthetic and tactile sensations of the physician are used. Although it has been widely used to detect and localize diseased tissues in many clinical fields, the procedure is subjective and dependent on the experience of the individual physician. Palpation results and biomechanics-based mechanical property characterization are possible solutions that can enable the acquisition of objective and quantitative information on abnormal tissue localization during diagnosis and surgery. This paper presents an integrated approach for robotic palpation combined with biomechanical soft tissue characterization. In particular, we propose a new palpation method that is inspired by the actual finger motions that occur during palpation procedures. To validate the proposed method, robotic palpation experiments on silicone soft tissue phantoms with embedded hard inclusions were performed and the force responses of the phantoms were measured using a robotic palpation system. Furthermore, we carried out a numerical analysis, simulating the experiments and estimating the objective and quantitative properties of the tissues. The results indicate that the proposed approach can differentiate diseased tissue from normal tissue and can characterize the mechanical information of diseased tissue, which means that this method can be applied as a means of abnormality localization to diagnose prostate cancers.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.