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Somatosensation

Somatosensation

The somatosensory system relays sensory information from the skin, mucous membranes, limbs, and joints. Somatosensation is more familiarly known as the sense of touch. A typical somatosensory pathway includes three types of long neurons: primary, secondary, and tertiary. Primary neurons have cell bodies located near the spinal cord in groups of neurons called dorsal root ganglia. The sensory neurons of ganglia innervate designated areas of skin called dermatomes.

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Related Experiment Video

Updated: Feb 28, 2026

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy

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Haptic and Palpation Sensing for Robotic Surgery: Engineering Perspectives on Design and Integration.

Michael H Friebe^1,2,3

¹Faculty of Computer Science, Heathtech Innovation Lab, AGH University of Krakow, 30-059 Krakow, Poland.

Sensors (Basel, Switzerland)

|February 27, 2026

Summary

Restoring palpation sensing in robotic-assisted surgery (RAS) is crucial. Advanced sensors can assess tissue properties, but integration challenges remain for safer, more efficient robotic surgery.

Keywords:

Robotic-assisted surgery artificial intelligence haptic feedback multimodal sensor fusion palpation sensing surgical autonomy tactile and force sensors vibroacoustic sensing

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Area of Science:

Engineering and Systems Science
Surgical Technology
Biomedical Engineering

Background:

Robotic-assisted surgery (RAS) offers enhanced dexterity and visualization but lacks tactile feedback.
The absence of palpation sensing increases cognitive load, training time, and risk of tissue injury.

Purpose of the Study:

To examine palpation sensing in RAS from an engineering and system-integration perspective.
To identify challenges and opportunities for restoring tactile information in robotic surgery.

Main Methods:

Review of recent advances in force, tactile, vibroacoustic, audio, and optical sensor technologies.
Analysis of challenges in clinical translation, including sensor miniaturization, sterilization, robustness, integration, and standardization.
Exploration of AI, multimodal sensor fusion, and intra-operative imaging for enhanced palpation.

Main Results:

New sensor technologies can quantitatively assess tissue mechanical properties, often exceeding human sensitivity.
Clinical translation is hindered by practical engineering and integration challenges.
AI and sensor fusion with advanced visualization are key to overcoming limitations.

Conclusions:

Restoring palpation sensing is essential for improving safety and efficiency in RAS.
Dedicated robotic palpation devices and wireless probes are promising transitional solutions.
Enhanced palpation sensing is a prerequisite for higher levels of autonomy in future RAS platforms.