title: Tactile sensor method for thoracoscopic detection of intrapulmonary nodules.
abstract: We have developed a tactile sensor which can be used to quantify the hardness of objects and applied it to thoracoscopic surgery for the localization of small invisible nodules in the lung. The hardness properties of objects can be obtained as changes in the resonance frequency of the tactile sensor (delta f). When the sensor probe is moved over the lung surface, a delta f curve is depicted on the computer screen. When the sensor tip passes the area just above a target nodule, a spike is evoked in the delta f curve. In thoracoscopic surgery, tactile sensor was employed to detect a total or 42 nodules, 32 indeterminate and 10 metastatic, in 37 patients. All except two of these detected nodules, had been preoperatively demonstrated with computed tomography. Each nodule was detected successfully by recognizing the spot on the pleura, at which the spike of delta f curve was evoked, and resected thoracoscopically. All of the indeterminate nodules were diagnosed intraoperatively; 28 benign tumors and 4 primary carcinomas. In conclusion, our tactile sensor method can be a viable alternative for thoracoscopic detection of small and invisible pulmonary nodules.
authors.affiliation: Department of Cardiothoracic Surgery, University of Tokyo, Japan.
authors.forename: T
authors.initials: T
authors.lastname: Ohtsuka
authors.forename: T
authors.initials: T
authors.lastname: Kohno
authors.forename: J
authors.initials: J
authors.lastname: Nakajima
authors.forename: K
authors.initials: K
authors.lastname: Miyaji
authors.forename: A
authors.initials: A
authors.lastname: Furuse
authors.forename: S
authors.initials: S
authors.lastname: Omata
mesh_terms: D006801:Humans; D008175:Lung Neoplasms / Q000473:pathology* / Q000601:surgery; D008328:Man-Machine Systems; D020708:Thoracoscopes; D014110:Touch; D014159:Transducers