Softness sensing probe with multiple acoustic paths for laparoscopic surgery.
Taku UkaiYoshihiro TanakaTomohiro FukudaTakuma KajikawaHiroshi MiuraYukihiro TeradaPublished in: International journal of computer assisted radiology and surgery (2020)
The experimental results showed that the sensor can estimate the softness while compensating the posture and discriminate model samples of normal and lesioned uterus in the simulated environment, indicating the possibility of boundary identification between normal and lesioned tissues during laparoscopic surgery of endometriosis.