ArticleSensors (Basel, Switzerland)2023
Vibro-Acoustic Sensing of Instrument Interactions as a Potential Source of Texture-Related Information in Robotic Palpation.
Article in Sensors (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers, 1 of them a synthesis that pooled it.
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Who cites it
8 citing papers in PubMed, 1 synthesis or guideline pooled it.
- The implementation of artificial intelligence in upper extremity surgery: a systematic review.Frontiers in artificial intelligence · 2025Pooled it
- Ex Vivo Differentiation of Cartilage Degeneration Severity and Subchondral Bone Using Vibroacoustic Signals from Instrument-Tissue Interaction.Sensors (Basel, Switzerland) · 2026Article
- 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
- Exploratory analysis and framework for tissue classification based on vibroacoustic signals from needle-tissue interaction.International journal of computer assisted radiology and surgery · 2025Article
- Initial findings creating a temperature prediction model using vibroacoustic signals originating from tissue needle interactions.Scientific reports · 2025Article
- The sound of surgery-development of an acoustic trocar system enabling laparoscopic sound analysis.International journal of computer assisted radiology and surgery · 2024Article
- Clustering Methods for Vibro-Acoustic Sensing Features as a Potential Approach to Tissue Characterisation in Robot-Assisted Interventions.Sensors (Basel, Switzerland) · 2023Article
Corrections and comments
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Authors and funding
11 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The direct tactile assessment of surface textures during palpation is an essential component of open surgery that is impeded in minimally invasive and robot-assisted surgery. When indirectly palpating with a surgical instrument, the structural vibrations from this interaction contain tactile information that can be extracted and analysed. This study investigates the influence of the parameters contact angle α and velocity v→ on the vibro-acoustic signals from this indirect palpation. A 7-DOF robotic arm, a standard surgical instrument, and a vibration measurement system were used to palpate three different materials with varying α and v→. The signals were processed based on continuous wavelet transformation. They showed material-specific signatures in the time-frequency domain that retained their general characteristic for varying α and v→. Energy-related and statistical features were extracted, and supervised classification was performed, where the testing data comprised only signals acquired with different palpation parameters than for training data. The classifiers support vector machine and k-nearest neighbours provided 99.67% and 96.00% accuracy for the differentiation of the materials. The results indicate the robustness of the features against variations in the palpation parameters. This is a prerequisite for an application in minimally invasive surgery but needs to be confirmed in realistic experiments with biological tissues.
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Registered trials
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