ISSN Print 2500–1094
ISSN Online 2542–1204
BIOMEDICAL JOURNAL OF PIROGOV UNIVERSITY (MOSCOW, RUSSIA)
Copyright: © 2018 by the authors. Licensee: Pirogov University.
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (CC BY).
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (CC BY).
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
|
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
