It is noted that a system able to provide feedback to medical experts’ real-time quantitative measurements of soft tissue properties, force and stiffness is still missing and highly desirable.
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During the last two decades, researchers have developed several instruments able to mimic the traditional manual palpation techniques that may be reliable, but are often difficult to use in a clinical setting. Inadequate clinician training may contribute to a wide range of differences in diagnosis results based on such physical examination. It is reported that the sensitivity of palpation procedures, i.e., the clinician’s ability to correctly identify a tumour, is subjective and highly dependent upon the skill and experience of the practitioner-a skill often difficult to master. Furthermore, it is noted that cancerous tumours are usually not tender, whilst benign lesions are more likely to be round, elastic or firm, movable, and well-defined. Suspicious breast lesions are hard and fixed rather than movable, the latter being an indicator of healthy tissue. For instance, palpation-based breast examination should be conducted in a methodical way and performed over the entire breast. When practitioners attempt to detect tumours in some specific area of the human body, they discriminate between healthy regions and regions of abnormality, as indicated by stiffness differences, as the stiffness of a tumour is typically higher than that of the surrounding healthy tissue. Palpation is one of the most effective methods used by medical experts to determine pathologies. The diagnosis is a function of kinaesthetic sensations: the indentation depth (i.e., how much the soft surface deforms) and the experienced reaction force. In most cases, the clinician aims to distinguish between areas of higher and lower stiffness, since these stiffness variations can give an indication of disease. The physical investigation is usually performed manually-clinicians touch organs or body parts with their fingers in order to evaluate the stiffness distribution in the examined body part. A palpation procedure involves the examination of the patient by means of direct physical contact. Palpation is frequently used in medical practice and plays an important role in physical diagnosis. The stiffness probe was integrated in a robotic arm and tested in an artificial environment representing a good model of soft tissue organs the results show that the sensor can accurately measure and map the stiffness of a silicon phantom embedded with areas of varying stiffness. Our stiffness sensor is equipped with a multi degree of freedom (DoF) Aurora magnetic tracker, allowing us to track and record the 3D position of the probe whilst examining a tissue area, and generate a 3D stiffness map in real-time. The probe presented here fills this gap providing a means to easily obtain stiffness values of soft tissue during a palpation procedure. However, differences are often subtle and clinicians need to train for many years before they can conduct a reliable diagnosis.
Palpation is recognized by the medical community as an essential and low-cost method to detect and diagnose disease in soft-tissue. This paper presents new findings concerning a hand-held stiffness probe for the medical diagnosis of abnormalities during palpation of soft-tissue.
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