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Related Experiment Video

Updated: Dec 18, 2025

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Softness sensing probe with multiple acoustic paths for laparoscopic surgery.

Taku Ukai1, Yoshihiro Tanaka2, Tomohiro Fukuda2

  • 1Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Japan. t.ukai.406@nitech.jp.

International Journal of Computer Assisted Radiology and Surgery
|June 10, 2020
PubMed
Summary

A new softness sensing probe for endometriosis improves tactile feedback during laparoscopic surgery. This device accurately identifies lesion boundaries, enabling precise cuts and reducing tissue damage.

Keywords:
Acoustic reflectionLaparoscopic surgerySoftnessTactile sensor

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Area of Science:

  • Biomedical Engineering
  • Surgical Technology
  • Gynecological Surgery

Background:

  • Laparoscopic surgery limits surgeons' tactile feedback, posing challenges in tissue differentiation.
  • Accurate identification of endometriosis lesions is crucial for effective surgical intervention and minimizing collateral damage.

Purpose of the Study:

  • To develop a tactile softness sensing probe for enhanced endometriosis detection during laparoscopic procedures.
  • To enable precise identification of lesion boundaries for optimized surgical cutting lines.

Main Methods:

  • An acoustic reflection-based sensing probe with three force-sensing points was developed.
  • Sensor posture compensation and theoretical analysis were employed to verify the sensing principle.
  • Fundamental experiments and simulated evaluations were conducted to create and test an estimation model.

Main Results:

  • The probe accurately estimated tissue softness with a root-mean-square error of 31.5 kPa, accounting for probe posture variations.
  • In simulated laparoscopic environments, the sensor successfully discriminated between normal and lesioned uterine tissue samples.
  • Six surgeons confirmed the significant discriminative capability of the softness estimation.

Conclusions:

  • The developed softness sensing probe effectively estimates tissue properties while compensating for sensor posture.
  • The probe demonstrated the ability to differentiate between normal and lesioned uterine tissues, indicating potential for intraoperative boundary identification in endometriosis surgery.