Tissue property estimation and graphical display for teleoperated robot-assisted surgery

@article{Yamamoto2009TissuePE,
  title={Tissue property estimation and graphical display for teleoperated robot-assisted surgery},
  author={Tomonori Yamamoto and Bal{\'a}zs V{\'a}gv{\"o}lgyi and Kamini Balaji and Louis L. Whitcomb and Allison M. Okamura},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={4239-4245}
}
Manual palpation of tissue and organs during a surgical procedure provides clinicians with valuable information for diagnosis and surgical planning. In present-day robotassisted minimally invasive surgery systems, lack of perceptible haptic feedback makes it challenging to detect a tumor in an organ or a calcified artery in heart tissue. This study presents an automated tissue property estimation method and a real-time graphical overlay that allow an operator to discriminate hard and soft… CONTINUE READING

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