{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T20:00:59Z","timestamp":1770753659948,"version":"3.50.0"},"reference-count":50,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2023,3,15]],"date-time":"2023-03-15T00:00:00Z","timestamp":1678838400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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 \u03b1 and velocity v\u2192 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 \u03b1 and v\u2192. The signals were processed based on continuous wavelet transformation. They showed material-specific signatures in the time\u2013frequency domain that retained their general characteristic for varying \u03b1 and v\u2192. 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.<\/jats:p>","DOI":"10.3390\/s23063141","type":"journal-article","created":{"date-parts":[[2023,3,16]],"date-time":"2023-03-16T03:14:35Z","timestamp":1678936475000},"page":"3141","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Vibro-Acoustic Sensing of Instrument Interactions as a Potential Source of Texture-Related Information in Robotic Palpation"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5132-2884","authenticated-orcid":false,"given":"Thomas","family":"S\u00fchn","sequence":"first","affiliation":[{"name":"Department of Orthopaedic Surgery, Otto-von-Guericke University Magdeburg, 39120 Magdeburg, Germany"},{"name":"SURAG Medical GmbH, 39118 Magdeburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9741-9788","authenticated-orcid":false,"given":"Nazila","family":"Esmaeili","sequence":"additional","affiliation":[{"name":"SURAG Medical GmbH, 39118 Magdeburg, Germany"}]},{"given":"Sandeep Y.","family":"Mattepu","sequence":"additional","affiliation":[{"name":"INKA Innovation Laboratory for Image Guided Therapy, Otto-von-Guericke University Magdeburg, 39120 Magdeburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5470-4850","authenticated-orcid":false,"given":"Moritz","family":"Spiller","sequence":"additional","affiliation":[{"name":"SURAG Medical GmbH, 39118 Magdeburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5874-7145","authenticated-orcid":false,"given":"Axel","family":"Boese","sequence":"additional","affiliation":[{"name":"INKA Innovation Laboratory for Image Guided Therapy, Otto-von-Guericke University Magdeburg, 39120 Magdeburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-9430-3474","authenticated-orcid":false,"given":"Robin","family":"Urrutia","sequence":"additional","affiliation":[{"name":"Instituto de Ac\u00fastica, Facultad de Ciencias de la Ingenier\u00eda, Universidad Austral de Chile, Valdivia 5111187, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2894-0267","authenticated-orcid":false,"given":"Victor","family":"Poblete","sequence":"additional","affiliation":[{"name":"Instituto de Ac\u00fastica, Facultad de Ciencias de la Ingenier\u00eda, Universidad Austral de Chile, Valdivia 5111187, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5734-7529","authenticated-orcid":false,"given":"Christian","family":"Hansen","sequence":"additional","affiliation":[{"name":"Research Campus STIMULATE, Otto-von-Guericke University Magdeburg, 39106 Magdeburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2962-2183","authenticated-orcid":false,"given":"Christoph H.","family":"Lohmann","sequence":"additional","affiliation":[{"name":"Department of Orthopaedic Surgery, Otto-von-Guericke University Magdeburg, 39120 Magdeburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0118-0483","authenticated-orcid":false,"given":"Alfredo","family":"Illanes","sequence":"additional","affiliation":[{"name":"SURAG Medical GmbH, 39118 Magdeburg, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8624-0800","authenticated-orcid":false,"given":"Michael","family":"Friebe","sequence":"additional","affiliation":[{"name":"INKA Innovation Laboratory for Image Guided Therapy, Otto-von-Guericke University Magdeburg, 39120 Magdeburg, Germany"},{"name":"Department of Measurement and Electronics, AGH University of Science and Technology, 30-059 Krak\u00f3w, Poland"},{"name":"CIB\u2014Center of Innovation and Business Development, FOM University of Applied Sciences, 45127 Essen, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1097\/MOU.0b013e32831a478c","article-title":"Haptic feedback in robot-assisted minimally invasive surgery","volume":"19","author":"Okamura","year":"2009","journal-title":"Curr. Opin. Urol."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"5411","DOI":"10.1007\/s00464-017-5623-9","article-title":"The effects of laparoscopic graspers with enhanced haptic feedback on applied forces: A randomized comparison with conventional graspers","volume":"31","author":"Alleblas","year":"2017","journal-title":"Surg. Endosc."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Alemzadeh, H., Raman, J., Leveson, N., Kalbarczyk, Z., and Iyer, R.K. (2016). Adverse Events in Robotic Surgery: A Retrospective Study of 14 Years of FDA Data. PLoS ONE, 11.","DOI":"10.1371\/journal.pone.0151470"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"394","DOI":"10.1016\/j.athoracsur.2016.02.004","article-title":"Incidence, Results, and Our Current Intraoperative Technique to Control Major Vascular Injuries During Minimally Invasive Robotic Thoracic Surgery","volume":"102","author":"Cerfolio","year":"2016","journal-title":"Ann. Thorac. Surg."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Ghavamian, R. (2010). Complications of Laparoscopic and Robotic Urologic Surgery, Springer.","DOI":"10.1007\/978-1-60761-676-4"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"499","DOI":"10.1108\/01439910410566362","article-title":"Methods for haptic feedback in teleoperated robot-assisted surgery","volume":"31","author":"Okamura","year":"2004","journal-title":"Ind. Robot."},{"key":"ref_7","first-page":"1","article-title":"Effectiveness of stereoscopic displays in medicine: A review","volume":"3","author":"IJsselsteijn","year":"2012","journal-title":"3D Res."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1007\/s00464-015-4189-7","article-title":"Three-dimensional versus two-dimensional vision in laparoscopy: A systematic review","volume":"30","author":"Savran","year":"2016","journal-title":"Surg. Endosc."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"7682","DOI":"10.1109\/ACCESS.2019.2962636","article-title":"Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives","volume":"8","author":"Bandari","year":"2020","journal-title":"IEEE Access"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"2490","DOI":"10.1109\/JSEN.2014.2325794","article-title":"Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review","volume":"14","author":"Konstantinova","year":"2014","journal-title":"IEEE Sens. J."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Park, M., Bok, B.G., Ahn, J.H., and Kim, M.S. (2018). Recent Advances in Tactile Sensing Technology. Micromachines, 9.","DOI":"10.3390\/mi9070321"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1109\/RBME.2016.2538080","article-title":"Haptics in Robot-Assisted Surgery: Challenges and Benefits","volume":"9","author":"Enayati","year":"2016","journal-title":"IEEE Rev. Biomed. Eng."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1168","DOI":"10.1109\/LRA.2018.2793961","article-title":"A variable stiffness robotic probe for soft tissue palpation","volume":"3","author":"Herzig","year":"2018","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"3283","DOI":"10.1109\/JSEN.2014.2328182","article-title":"An optical tactile array probe head for tissue palpation during minimally invasive surgery","volume":"14","author":"Xie","year":"2014","journal-title":"IEEE Sens. J."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1377","DOI":"10.1007\/s10514-020-09931-y","article-title":"Structuring of tactile sensory information for category formation in robotics palpation","volume":"44","author":"Scimeca","year":"2020","journal-title":"Auton. Robot."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"2755","DOI":"10.1109\/TIE.2017.2739681","article-title":"A surgical palpation probe with 6-axis force\/torque sensing capability for minimally invasive surgery","volume":"65","author":"Kim","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"025033","DOI":"10.1088\/1361-665X\/aafc8d","article-title":"A miniature piezoelectric spiral tactile sensor for tissue hardness palpation with catheter robot in minimally invasive surgery","volume":"28","author":"Ju","year":"2019","journal-title":"Smart Mater. Struct."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"669","DOI":"10.1007\/s10439-019-02388-w","article-title":"A high-precision and miniature fiber bragg grating-based force sensor for tissue palpation during minimally invasive surgery","volume":"48","author":"Lv","year":"2020","journal-title":"Ann. Biomed. Eng."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"278","DOI":"10.1109\/TBME.2015.2455932","article-title":"Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery","volume":"63","author":"Pacchierotti","year":"2016","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_20","first-page":"376","article-title":"Tactile Sensing for Minimally Invasive Surgery: Conventional Methods and Potential Emerging Tactile Technologies","volume":"8","author":"Othman","year":"2021","journal-title":"Front. Robot. AI"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"31974","DOI":"10.1109\/ACCESS.2018.2844563","article-title":"Modular instrument for a haptically-enabled robotic surgical system (herosurg)","volume":"6","author":"Dalvand","year":"2018","journal-title":"IEEE Access"},{"key":"ref_22","first-page":"62","article-title":"Defining the role of haptic feedback in minimally invasive surgery","volume":"62","author":"Bholat","year":"1999","journal-title":"Stud. Health Technol. Inform."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"349","DOI":"10.1016\/S1072-7515(99)00184-2","article-title":"Tactile feedback is present during minimally invasive surgery","volume":"189","author":"Bholat","year":"1999","journal-title":"J. Am. Coll. Surg."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1080\/13645700701820242","article-title":"Haptics in minimally invasive surgery\u2014A review","volume":"17","author":"Goossens","year":"2008","journal-title":"Minim. Invasive Ther. Allied Technol."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"950","DOI":"10.1126\/science.1254229","article-title":"The gentle touch receptors of mammalian skin","volume":"346","author":"Zimmerman","year":"2014","journal-title":"Science"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"12070","DOI":"10.1038\/s41598-018-30641-0","article-title":"Novel clinical device tracking and tissue event characterization using proximally placed audio signal acquisition and processing","volume":"8","author":"Illanes","year":"2018","journal-title":"Sci. Rep."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Illanes, A., S\u00fchn, T., Esmaeili, N., Maldonado, I., Schaufler, A., Chen, C.H., Boese, A., and Friebe, M. (2019, January 28\u201330). Surgical Audio Guidance SurAG: Extracting non-invasively meaningful guidance information during minimally invasive procedures. Proceedings of the 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE), Athens, Greece.","DOI":"10.1109\/BIBE.2019.00108"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Illanes, A., Boese, A., Friebe, M., and Hansen, C. (2020, January 18\u201322). Feasibility Check: Can Audio Be a Simple Alternative to Force-Based Feedback for Needle Guidance?. Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention, Singapore.","DOI":"10.1007\/978-3-030-59716-0_3"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1683","DOI":"10.1007\/s11548-021-02479-x","article-title":"Study of needle punctures into soft tissue through audio and force sensing: Can audio be a simple alternative for needle guidance?","volume":"16","author":"Sabieleish","year":"2021","journal-title":"Int. J. Comput. Assist. Radiol. Surg."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"369","DOI":"10.1515\/cdbme-2019-0093","article-title":"Automatic differentiation between veress needle events in laparoscopic access using proximally attached audio signal characterization","volume":"5","author":"Schaufler","year":"2019","journal-title":"Curr. Dir. Biomed. Eng."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Illanes, A., Schaufler, A., Maldonado, I., Boese, A., and Friebe, M. (2017, January 24\u201327). Time-varying acoustic emission characterization for guidewire coronary artery perforation identification. Proceedings of the 2017 Computing in Cardiology (CinC), Rennes, France.","DOI":"10.22489\/CinC.2017.135-113"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1016\/j.compbiomed.2019.02.001","article-title":"Proximal detection of guide wire perforation using feature extraction from bispectral audio signal analysis combined with machine learning","volume":"107","author":"Mahmoodian","year":"2019","journal-title":"Comput. Biol. Med."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1515\/cdbme-2018-0017","article-title":"Proximally placed signal acquisition sensoric for robotic tissue tool interactions","volume":"4","author":"Chen","year":"2018","journal-title":"Curr. Dir. Biomed. Eng."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"103370","DOI":"10.1016\/j.compbiomed.2019.103370","article-title":"Texture differentiation using audio signal analysis with robotic interventional instruments","volume":"112","author":"Chen","year":"2019","journal-title":"Comput. Biol. Med."},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Illanes, A., Schaufler, A., S\u00fchn, T., Boese, A., Croner, R., and Friebe, M. (2020). Surgical audio information as base for haptic feedback in robotic-assisted procedures. Curr. Dir. Biomed. Eng., 6.","DOI":"10.1515\/cdbme-2020-0036"},{"key":"ref_36","unstructured":"S\u00fchn, T., Esmaeili, N., Spiller, M., Maximilian, C., Axel, B., Jessica, B., Ajay, P., Christoph, L., Michael, F., and Alfredo, I. (2023). Vibro-acoustic sensing of tissue-instrument-interactions allows a differentiation of biological tissue in computerized palpation. manuscript submitted for publication."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1109\/MRA.2021.3138382","article-title":"The Franka Emika Robot: A Reference Platform for Robotics Research and Education","volume":"29","author":"Haddadin","year":"2022","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_38","unstructured":"Franka Emika GmbH (2022, November 23). Franka Control Interface Documentation. Available online: https:\/\/frankaemika.github.io\/docs\/."},{"key":"ref_39","unstructured":"Open Source Robotics Foundation, Inc. (2023, January 09). ROS Melodic Morenia. Available online: http:\/\/wiki.ros.org\/melodic."},{"key":"ref_40","unstructured":"Pieper, D.L. (1969). The Kinematics of Manipulators under Computer Control, Stanford University."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"632","DOI":"10.1109\/ROBOT.2002.1013429","article-title":"Efficient nearest neighbor searching for motion planning","volume":"Volume 1","author":"Atramentov","year":"2002","journal-title":"Proceedings of the 2002 IEEE International Conference on Robotics and Automation (Cat. No. 02CH37292)"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1109\/41.824136","article-title":"Global minimum-jerk trajectory planning of robot manipulators","volume":"47","author":"Piazzi","year":"2000","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_43","unstructured":"Hsu, C.W., Chang, C.C., and Lin, C.J. (2022, November 23). A practical guide to support vector classification. 2003. Available online: http:\/\/www.datascienceassn.org\/sites\/default\/files\/Practical%20Guide%20to%20Support%20Vector%20Classification.pdf."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"1883","DOI":"10.4249\/scholarpedia.1883","article-title":"K-nearest neighbor","volume":"4","author":"Peterson","year":"2009","journal-title":"Scholarpedia"},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"1502","DOI":"10.12928\/telkomnika.v14i4.3956","article-title":"SVM parameter optimization using grid search and genetic algorithm to improve classification performance","volume":"14","author":"Syarif","year":"2016","journal-title":"Telkomnika"},{"key":"ref_46","first-page":"1","article-title":"Measuring interaction forces in surgical telemanipulation using conventional instruments","volume":"41","author":"Friedrich","year":"2022","journal-title":"Robotica"},{"key":"ref_47","unstructured":"Stryker Corporation (2022, November 26). Mako Robotic-Arm for Joint Replacement. Available online: https:\/\/www.stryker.com\/us\/en\/joint-replacement\/systems\/Mako_SmartRobotics_Overview.html#know-more."},{"key":"ref_48","unstructured":"Zimmer Biomet Holdings, Inc. (2022, November 26). ROSA\u00ae Knee System. Available online: https:\/\/www.zimmerbiomet.com\/en\/products-and-solutions\/specialties\/knee\/rosa\u2013knee-system.html."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1177\/2309499016684993","article-title":"Orthopaedic surgeon attitudes towards current limitations and the potential for robotic and technological innovation in arthroscopic surgery","volume":"25","author":"Jaiprakash","year":"2017","journal-title":"J. Orthop. Surg."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"595","DOI":"10.1515\/cdbme-2020-3152","article-title":"Acoustic sensing of tissue-tool interactions\u2013potential applications in arthroscopic surgery","volume":"6","author":"Pandey","year":"2020","journal-title":"Curr. Dir. Biomed. Eng."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/6\/3141\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:55:49Z","timestamp":1760122549000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/6\/3141"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,3,15]]},"references-count":50,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2023,3]]}},"alternative-id":["s23063141"],"URL":"https:\/\/doi.org\/10.3390\/s23063141","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,3,15]]}}}