title: Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review.
abstract: Robot-assisted minimally invasive surgery has many advantages compared to conventional open surgery and also certain drawbacks: it causes less operative trauma and faster recovery times but does not allow for direct tumour palpation as is the case in open surgery. This article reviews state-of-the-art intra-operative tumour localisation methods used in robot-assisted minimally invasive surgery and in particular methods that employ force-based sensing, tactile-based sensing, and medical imaging techniques. The limitations and challenges of these methods are discussed and future research directions are proposed.
authors.affiliation: Department of Informatics, King's College London, London, UK min.m.li@kcl.ac.uk.
authors.forename: Min
authors.initials: M
authors.lastname: Li
authors.affiliation: Department of Informatics, King's College London, London, UK.
authors.forename: Hongbin
authors.initials: H
authors.lastname: Liu
authors.affiliation: Department of Informatics, King's College London, London, UK.
authors.forename: Allen
authors.initials: A
authors.lastname: Jiang
authors.affiliation: Department of Informatics, King's College London, London, UK College of Engineering, Khalifa University of Science, Technology & Research, Abu Dhabi, UAE.
authors.forename: Lakmal D
authors.initials: LD
authors.lastname: Seneviratne
authors.affiliation: Medical Research Council (MRC) Centre for Transplantation, Guy's Hospital, London, UK.
authors.forename: Prokar
authors.initials: P
authors.lastname: Dasgupta
authors.affiliation: Department of Informatics, King's College London, London, UK.
authors.forename: Kaspar
authors.initials: K
authors.lastname: Althoefer
authors.affiliation: Department of Informatics, King's College London, London, UK.
authors.forename: Helge
authors.initials: H
authors.lastname: Wurdemann
keywords: Haptic feedback; minimally invasive surgery; palpation; tumour localisation