Advanced 2D machine palpation for tissue abnormality localization in a simulated environment

To obtain the quantitative mechanical information, robotic palpation systems have been studied. The aim of this study was to evaluate the reliability of the mechanical mapping using correlation with pathological cancer suspected maps. A total of 60 indentations were performed on 5 specimens taken during radical prostatectomy with a robotic palpation system. Suspected cancer lesions based on the mechanical properties were compared to those of pathological results. The concordance rate was 81.7 % (98/120). Sensitivity and specificity were 93.5 % (29/36) and 91.6 % (22/24). Positive predictive value (PPV) and negative predictive value (NPV) were 93.5 % (29/31) and 75.8 % (22/29). As a result, the mechanically suspected lesions are in close agreement with those of pathological results. This study may contribute on technological progress for overcoming limitations which include many complications due to non-targeted systemic biopsy and late detection of prostate cancer.