A Palpation System for Artery Localization in Laparoscopic Surgery

This paper describes a system for finding hidden arteries in remote and inaccessible locations. A tactile array sensor is located in the end of a long, 10 mm diameter probe. In a surgical application, the surgeon presses the sensor against the tissue of interest, and electronics read out the pressure distribution across the contact area at a high rate. A computer captures this information and processes the signal to find the periodic pressure variations due to the pulsatile arterial blood flow. The results are then displayed on a video monitor for the surgeon's use. This device is the first part of a complete remote palpation system that will convey tactile information to the surgeon's finger tips using shape, pressure, and vibration displays.