ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2022
A cable driven robotic palpation system with contact force sensing based on cable tension observation.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed, 11 citations in OpenAlex.
- Haptic and Palpation Sensing for Robotic Surgery: Engineering Perspectives on Design and Integration.Sensors (Basel, Switzerland) · 2026Article
- Palpation sensing for robotic-assisted surgery.Orthopadie (Heidelberg, Germany) · 2026Review
- Proof of concept of a static approach to determine mechanical tissue properties during tumor surgery.BMC biomedical engineering · 2025Article
- A Tension Sensor Array for Cable-Driven Surgical Robots.Sensors (Basel, Switzerland) · 2024Article
- High-Resolution Tactile-Sensation Diagnostic Imaging System for Thyroid Cancer.Sensors (Basel, Switzerland) · 2023Article
- A cable driven robotic palpation system with contact force sensing based on cable tension observation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2022Article
Corrections and comments
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Authors and funding
4 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundProstate Cancer screening based on manual palpation is subjective. Robotic palpation systems can objectively acquire stiffness conditions of the prostate.
methodsA 2DoF cable driven robotic system for prostate palpation is proposed. An indirect method to estimate the contact force based on cable tension observation is presented. Kinematic models and a joint angle estimation method to determine the tip position of the probe are derived. Positioning accuracy was verified using an optical marker tracking system and by displacement measurement, respectively. The contact force estimation method was validated on silicone phantom samples.
resultsA good consistence between the estimated and measured contact force was observed. The contact force was correlated with the elastic modulus of each silicone phantom. There was also a good agreement between the theoretical and the measured tip position.
conclusionIn the proposed palpation system, the indirect contact force estimation method is viable and holds potential for the stiffness assessment of the prostate. The tip position vital for palpation can be determined through estimated joint angles.
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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.