Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review

Min Li, Hongbin Liu, Allen Jiang, Lakmal D. Seneviratne, Prokar Dasgupta, Kaspar Althoefer, Helge Wurdemann

Research output: Contribution to journalReview articlepeer-review

26 Scopus citations


Robot-assisted minimally invasive surgery has many advantages compared to conventional open surgery and also certain drawbacks: it causes less operative trauma and faster recovery times but does not allow for direct tumour palpation as is the case in open surgery. This article reviews state-of-the-art intra-operative tumour localisation methods used in robot-assisted minimally invasive surgery and in particular methods that employ force-based sensing, tactile-based sensing, and medical imaging techniques. The limitations and challenges of these methods are discussed and future research directions are proposed.

Original languageBritish English
Pages (from-to)509-522
Number of pages14
JournalProceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
Issue number5
StatePublished - May 2014


  • Haptic feedback
  • Minimally invasive surgery
  • Palpation
  • Tumour localisation


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