ArticlePloS one2017
Palpation force modulation strategies to identify hard regions in soft tissue organs.
Article in PloS one, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. An erratum has been issued. Cited by 18 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
18 citing papers in PubMed, 63 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
- Flexible Sensor Foil Based on Polymer Optical Waveguide for Haptic Assessment.Sensors (Basel, Switzerland) · 2025Article
- Proof of concept of a static approach to determine mechanical tissue properties during tumor surgery.BMC biomedical engineering · 2025Article
- Palpation Characteristics of an Instrumented Virtual Cricothyroidotomy Simulator.IEEE transactions on human-machine systems · 2025Article
- Abraded optical fibre-based dynamic range force sensor for tissue palpation.Frontiers in robotics and AI · 2024Article
- Multi-silicone bilateral soft physical twin as an alternative to traditional user interfaces for remote palpation: a comparative study.Scientific reports · 2023Article
- ESPRESS.0: Eustachian Tube-Inspired Tactile Sensor Exploiting Pneumatics for Range Extension and SenSitivity Tuning.Sensors (Basel, Switzerland) · 2023Article
- Vocal pain expression augmentation for a robopatient.Frontiers in robotics and AI · 2023Article
- Force-Sensorless Identification and Classification of Tissue Biomechanical Parameters for Robot-Assisted Palpation.Sensors (Basel, Switzerland) · 2022Article
- Simulator-Based Metrics for Quantifying Vascular Palpation Skill for Cannulation.IEEE access : practical innovations, open solutions · 2022Article
- Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability.The international journal of medical robotics + computer assisted surgery : MRCAS · 2021Article
- A tactile sensor using the acoustic reflection principle for assessing the contact force component in laparoscopic tumor localization.International journal of computer assisted radiology and surgery · 2021Article
- Development of Stiffness Measurement Program Using Color Mapping in Shear Wave Elastography.Diagnostics (Basel, Switzerland) · 2020Article
- Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe.PloS one · 2020Article
- Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment.Frontiers in robotics and AI · 2018Article
- Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands.PloS one · 2018Article
- DNN-Based Assistant in Laparoscopic Computer-Aided Palpation.Frontiers in robotics and AI · 2018Article
- Correction: Palpation force modulation strategies to identify hard regions in soft tissue organs.PloS one · 2018Article
Corrections and comments
- Erratum issued
Authors and funding
5 authors at 3 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local areas and outline the role of force control. In addition, we investigate whether the applied force depends on the non-homogeneity of the soft tissue. Experimental results on manual palpation of soft silicone phantoms show that humans have a well defined force control pattern of probing that is used independently of the non-homogeneity of the soft tissue. We observed that the modulations of lateral forces are distributed around the mean frequency of 22.3 Hz. Furthermore, we found that the applied normal pressure during probing can be modeled using a second order reactive autoregressive model. These mathematical abstractions were implemented and validated for the autonomous palpation for different stiffness parameters using a robotic probe with a rigid spherical indentation tip. The results show that the autonomous robotic palpation strategy abstracted from human demonstrations is capable of not only detecting the embedded nodules, but also enhancing the stiffness perception compared to static indentation of the probe.
Indexed as
Identifiers
What OpenQuestion holds
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.