ISSN Print 2500–1094
ISSN Online 2542–1204
BIOMEDICAL JOURNAL OF PIROGOV UNIVERSITY (MOSCOW, RUSSIA)
ORIGINAL RESEARCH
Instrumental palpation in endoscopic renal surgery: case reports and analysis
About authors
1 Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, Moscow
2 Evdokimov Moscow State University of Medicine and Dentistry, Moscow
3 City Clinical Hospital №52, Moscow Health Department, Moscow
Correspondence should be addressed: Rozaliya F. Solodova
Leninskie gory 1, build. 46, Moscow, 119991; gro.vodolos@ayilazor
About paper
Funding: the work was done with the financial support of the Russian Science Foundation (project No. 16-11-00058 “Development of methods and algorithms for automated medical tactile information analysis and tactile image classification”).
Acknowledgments: the authors thank Galatenko A.V. and Galatenko V.V. (Lomonosov Moscow State University) for valuable comments, criticism, and help with preparing the manuscript.
Received: 2018-07-26
Accepted: 2018-11-23
Published online: 2018-12-16
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Fig. 1. A tactile probe with diameter 10 mm and seven pressure sensors on the
working surface
Fig. 2. Visualization of characteristic tactile frames in the adaptive color scale: soft template (A), firm template (B), border template (C)
Fig. 3. Examining a tumor with a visible border. A. Image from a laparoscopic camera, examination with a tactile probe. B. Removed specimen; the visual border of the tumor is shown. C. Visualization of a tactile frame with the adaptive color scale
Fig. 4. Examining a non-visible tumor inside the parenchyma. A. Ultrasound visualization of the tumor; distance from the surface is shown. B. Examination with a tactile probe: image from a laparoscopic camera. C. Scanning with an ultrasound sensor; image from a laparoscopic camera. D. Visualization of a tactile frame with the adaptive color scale
Table. Clinical characteristic of patients, type of surgery and results of histological analysis
