Evidence map›Paper›PMID 40913746›Full record

ArticleInternational journal of computer assisted radiology and surgery2026

Tactile force sensor based on a modified acoustic reflection principle for intraoperative tumor localization in minimally invasive surgery.

Hoang-Hiep Ly, Manh-Cuong Bui, Ba-Nghia Mai, Hai-Duong Phung, Huy-Anh Bui, Duc-Tung Ta, Thi-Thoa Mac, Xuan-Thuan Nguyen

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Article in International journal of computer assisted radiology and surgery, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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1 · What the graph read from it

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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.

2 · The registry

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3 · Its place in the literature

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4 · The record

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5 · Who and what money

Authors and funding

8 authors.

Hoang-Hiep LySchool of Mechanical Engineering, Hanoi University of Science and Technology, No.1 Dai Co Viet, Bach Mai, Hanoi, Vietnam.ORCID http://orcid.org/0000-0002-7878-6053
Manh-Cuong BuiSchool of Mechanical Engineering, Hanoi University of Science and Technology, No.1 Dai Co Viet, Bach Mai, Hanoi, Vietnam.
Ba-Nghia MaiSchool of Mechanical Engineering, Hanoi University of Science and Technology, No.1 Dai Co Viet, Bach Mai, Hanoi, Vietnam.
Hai-Duong PhungSchool of Mechanical Engineering, Hanoi University of Science and Technology, No.1 Dai Co Viet, Bach Mai, Hanoi, Vietnam.
Huy-Anh BuiSchool of Mechanical and Automotive Engineering, Hanoi University of Industry, No. 298, Cau Dien, Tay Tuu, Hanoi, Vietnam.
Duc-Tung TaGraduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Tokyo, 113-8656, Japan.
Thi-Thoa MacSchool of Mechanical Engineering, Hanoi University of Science and Technology, No.1 Dai Co Viet, Bach Mai, Hanoi, Vietnam.
Xuan-Thuan NguyenSchool of Mechanical Engineering, Hanoi University of Science and Technology, No.1 Dai Co Viet, Bach Mai, Hanoi, Vietnam. thuan.nguyenxuan@hust.edu.vn.ORCID http://orcid.org/0000-0001-7111-4038

Funding

Hanoi University of Science and Technology T2023-TĐ-017
6 · The paper itself

Abstract

purposeLocalization of abdominal tissue, such as tumors, in minimally invasive surgery (MIS) is crucial but challenging due to the lack of tactile sensation. This study aims to develop a tactile force sensor that provides tactile sensation for surgeons, enabling accurate tumor localization while ensuring surgical safety.

methodsThis study proposes an acoustic reflection-based tactile force sensor, with preliminary theoretical analyses and fundamental experiments performed to assess its response to applied forces. Tumor detection using the proposed sensor is evaluated with artificial tissue samples. Furthermore, the sensor is integrated with a simulated robotic system and tested in ex vivo palpation experiments on a pig liver sample with an embedded tumor.

resultsThe acoustic-based sensor has a simple structure, low fabrication cost, uses biocompatible materials, and is safe for the human body. The sensor could accurately measure forces within a range of 0-5.5 N, achieving a high resolution of 2 mN and an RMSE of 149 mN. Graphical tactile force images effectively identified tumor position and relative size in artificial tissue tests. Moreover, the ex vivo tests on the pig liver demonstrated the robot-integrated sensor's success in detecting the embedded abdominal tissue.

conclusionsThe study introduces an acoustic-based tactile force sensor that supports surgeons in ensuring patient safety in MIS. Additionally, the sensor is proven to be a practical integration, and it can enable surgeons to detect the tumor's position and relative size during intraoperative surgery.

Indexed as

AcousticsLiver NeoplasmsMinimally Invasive Surgical ProceduresRobotic Surgical ProceduresTouchAnimalsEquipment DesignHumansPalpationSwineAcoustic reflection principlesMinimally invasive surgeryTactile force sensorTactile sensorTumor localization

Identifiers

PMID40913746

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Registered trials

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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.