Vibro-Acoustic Sensing of Instrument Interactions as a Potential Source of Texture-Related Information in Robotic Palpation

Vibro-Acoustic Sensing of Instrument Interactions as a Potential Source of Texture-Related Information in Robotic Palpation

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 informa...

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Bibliographic Details
Main Authors: Thomas Sühn, Nazila Esmaeili, Sandeep Y. Mattepu, Moritz Spiller, Axel Boese, Robin Urrutia, Victor Poblete, Christian Hansen, Christoph H. Lohmann, Alfredo Illanes, Michael Friebe
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Sensors
Subjects:
robot-assisted surgery
machine learning
minimally invasive surgery
haptic information
vibration sensing
surgical data science
Online Access:https://www.mdpi.com/1424-8220/23/6/3141

Internet

https://www.mdpi.com/1424-8220/23/6/3141

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