Clustering Methods for Vibro-Acoustic Sensing Features as a Potential Approach to Tissue Characterisation in Robot-Assisted Interventions.

This article provides a comprehensive analysis of the feature extraction methods applied to vibro-acoustic signals (VA signals) in the context of robot-assisted interventions. The primary objective is to extract valuable information from these signals to understand tissue behaviour better and build upon prior research. This study is divided into three key stages: feature extraction using the Cepstrum Transform (CT), Mel-Frequency Cepstral Coefficients (MFCCs), and Fast Chirplet Transform (FCT); dimensionality reduction employing techniques such as Principal Component Analysis (PCA), t-Distributed Stochastic Neighbour Embedding (t-SNE), and Uniform Manifold Approximation and Projection (UMAP); and, finally, classification using a nearest neighbours classifier. The results demonstrate that using feature extraction techniques, especially the combination of CT and MFCC with dimensionality reduction algorithms, yields highly efficient outcomes. The classification metrics (Accuracy, Recall, and F1-score) approach 99%, and the clustering metric is 0.61. The performance of the CT-UMAP combination stands out in the evaluation metrics.

Vibro-acoustic sensing of tissue-instrument-interactions allows a differentiation of biological tissue in computerised palpation.

BACKGROUND: The shift towards minimally invasive surgery is associated with a significant reduction of tactile information available to the surgeon, with compensation strategies ranging from vision-based techniques to the integration of sensing concepts into surgical instruments. Tactile information is vital for palpation tasks such as the differentiation of tissues or the characterisation of surfaces. This work investigates a new sensing approach to derive palpation-related information from vibration signals originating from instrument-tissue-interactions. METHODS: We conducted a feasibility study to differentiate three non-animal and three animal tissue specimens based on palpation of the surface. A sensor configuration was mounted at the proximal end of a standard instrument opposite the tissue-interaction point. Vibro-acoustic signals of 1680 palpation events were acquired, and the time-varying spectrum was computed using Continuous-Wavelet-Transformation. For validation, nine spectral energy-related features were calculated for a subsequent classification using linear Support Vector Machine and k-Nearest-Neighbor. RESULTS: Indicators derived from the vibration signal are highly stable in a set of palpations belonging to the same tissue specimen, regardless of the palpating subject. Differences in the surface texture of the tissue specimens reflect in those indicators and can serve as a basis for differentiation. The classification following a supervised learning approach shows an accuracy of >93.8% for the three-tissue classification tasks and decreases to 78.8% for a combination of all six tissues. CONCLUSIONS: Simple features derived from the vibro-acoustic signals facilitate the differentiation between biological tissues, showing the potential of the presented approach to provide information related to the interacting tissue. The results encourage further investigation of a yet little-exploited source of information in minimally invasive surgery.

Vibro-Acoustic Sensing of Instrument Interactions as a Potential Source of Texture-Related Information in Robotic Palpation.

The direct tactile assessment of surface textures during palpation is an essential component of open surgery that is impeded in minimally invasive and robot-assisted surgery. When indirectly palpating with a surgical instrument, the structural vibrations from this interaction contain tactile information that can be extracted and analysed. This study investigates the influence of the parameters contact angle α and velocity v→ on the vibro-acoustic signals from this indirect palpation. A 7-DOF robotic arm, a standard surgical instrument, and a vibration measurement system were used to palpate three different materials with varying α and v→. The signals were processed based on continuous wavelet transformation. They showed material-specific signatures in the time-frequency domain that retained their general characteristic for varying α and v→. Energy-related and statistical features were extracted, and supervised classification was performed, where the testing data comprised only signals acquired with different palpation parameters than for training data. The classifiers support vector machine and k-nearest neighbours provided 99.67% and 96.00% accuracy for the differentiation of the materials. The results indicate the robustness of the features against variations in the palpation parameters. This is a prerequisite for an application in minimally invasive surgery but needs to be confirmed in realistic experiments with biological tissues.

Surgeons' requirements for a surgical support system to improve laparoscopic access.

Creating surgical access is a critical step in laparoscopic surgery. Surgeons have to insert a sharp instrument such as the Veress needle or a trocar into the patient's abdomen until the peritoneal cavity is reached. They solely rely on their experience and distorted tactile feedback in that process, leading to a complication rate as high as 14% of all cases. Recent studies have shown the feasibility of surgical support systems that provide intraoperative feedback regarding the insertion process to improve laparoscopic access outcomes. However, to date, the surgeons' requirements for such support systems remain unclear. This research article presents the results of an explorative study that aimed to acquire data about the information that helps surgeons improve laparoscopic access outcomes. The results indicate that feedback regarding the reaching of the peritoneal cavity is of significant importance and should be presented visually or acoustically. Finally, a solution should be straightforward and intuitive to use, should support or even improve the clinical workflow, but also cheap enough to facilitate its usage rate. While this study was tailored to laparoscopic access, its results also apply to other minimally invasive procedures.

Vascular Auscultation of Carotid Artery: Towards Biometric Identification and Verification of Individuals.

BACKGROUND: Biometric sensing is a security method for protecting information and property. State-of-the-art biometric traits are behavioral and physiological in nature. However, they are vulnerable to tampering and forgery. METHODS: The proposed approach uses blood flow sounds in the carotid artery as a source of biometric information. A handheld sensing device and an associated desktop application were built. Between 80 and 160 carotid recordings of 11 s in length were acquired from seven individuals each. Wavelet-based signal analysis was performed to assess the potential for biometric applications. RESULTS: The acquired signals per individual proved to be consistent within one carotid sound recording and between multiple recordings spaced by several weeks. The averaged continuous wavelet transform spectra for all cardiac cycles of one recording showed specific spectral characteristics in the time-frequency domain, allowing for the discrimination of individuals, which could potentially serve as an individual fingerprint of the carotid sound. This is also supported by the quantitative analysis consisting of a small convolutional neural network, which was able to differentiate between different users with over 95% accuracy. CONCLUSION: The proposed approach and processing pipeline appeared promising for the discrimination of individuals. The biometrical recognition could clinically be used to obtain and highlight differences from a previously established personalized audio profile and subsequently could provide information on the source of the deviation as well as on its effects on the individual's health. The limited number of individuals and recordings require a study in a larger population along with an investigation of the long-term spectral stability of carotid sounds to assess its potential as a biometric marker. Nevertheless, the approach opens the perspective for automatic feature extraction and classification.

Auscultation System for Acquisition of Vascular Sounds - Towards Sound-Based Monitoring of the Carotid Artery.

INTRODUCTION: Atherosclerotic diseases of the carotid are a primary cause of cerebrovascular events such as stroke. For the diagnosis and monitoring angiography, ultrasound- or magnetic resonance-based imaging is used which requires costly hardware. In contrast, the auscultation of carotid sounds and screening for bruits - audible patterns related to turbulent blood flow - is a simple examination with comparably little technical demands. It can indicate atherosclerotic diseases and justify further diagnostics but is currently subjective and examiner dependent. METHODS: We propose an easy-to-use computer-assisted auscultation system for a stable and reproducible acquisition of vascular sounds of the carotid. A dedicated skin-transducer-interface was incorporated into a handheld device. The interface comprises two bell-shaped structures, one with additional acoustic membrane, to ensure defined skin contact and a stable propagation path of the sound. The device is connected wirelessly to a desktop application allowing real-time visualization, assessment of signal quality and input of supplementary information along with storage of recordings in a database. An experimental study with 5 healthy subjects was conducted to evaluate usability and stability of the device. Five recordings per carotid served as data basis for a wavelet-based analysis of the stability of spectral characteristics of the recordings. RESULTS: The energy distribution of the wavelet-based stationary spectra proved stable for measurements of a particular carotid with the majority of the energy located between 3 and 40 Hz. Different spectral properties of the carotids of one individual indicate the presence of sound characteristics linked to the particular vessel. User-dependent parameters such as variations of the applied contact pressure appeared to have minor influence on the general stability. CONCLUSION: The system provides a platform for reproducible carotid auscultation and the creation of a database of pathological vascular sounds, which is a prerequisite to investigate sound-based vascular monitoring.

Improved Acquisition of Vibroarthrographic Signals of the Knee Joint.

This paper presents an improved solution for vibroarthrographic measurements. Four different setups for sensor attachment to the knee were assessed with a focus on the stability and reproducibility of the measured signals. By means of power spectral density estimates, the main signal components were compared and afterwards evaluated by conducting a cross-correlation analysis.

Design of an Auscultation System for Phonoangiography and Monitoring of Carotid Artery Diseases.

Cerebrovascular diseases such as stenosis of the carotid artery are accountable for about 1 million death per year across Europe. Diagnostic tools like US, angiography or MRI require specific hardware and highly depend on the experience of the examining clinician. In contrast auscultation with a stethoscope can be used to screen for bruits - audible vascular sounds associated with turbulent blood flow. Dynamical changes in the flow due to pathological narrowing of the vessel can indicate the need for additional diagnostic investigations. A reliable auscultation setup is prerequisite to ensure high signal quality, adequate processing and the objective evaluation of a still subjectively assessed audible signal. We propose a computer assisted auscultation device for the characterisation of carotid bruits to facilitate the assessment of long-term changes in the vessel condition. Main goal of this work are design considerations regarding the mechanical interface of the proposed system to the skin. An experimental setup was used to compare the signal quality and morphology of different setups to a digital stethoscope. A combined system with two different interface configurations is proposed, current limitations of the system and potential improvements are discussed.