Abstract
Stiffness of human cancers strongly correlate with their pathology, and it is reported that stiffness can be used as a biomarker. Furthermore, comprehensive analysis has suggested the usefulness of cancer stiffness in diagnosis and malignancy prediction and its association with molecular expression, as well as its potential for predicting and diagnosing postoperative complications. Neurosurgeons perform tumor resection relying on the sensations that they feel with their own fingertips (tactile sensation), but it takes years of surgical experience to accurately distinguish brain tumor from the surrounding normal brain tissue. Haptics is a new technology regarding touching sensation. Especially, our technology, real haptics, can communicate, record, and reproduce the real sensation. It is also possible to measure and analyze the physical property such as stiffness of the touching object from the obtained haptic data. We developed a surgical forceps equipped with haptics technology to distinguish brain tumor tissue from surrounding normal brain tissue. three glioblastoma cell lines (SF126, U87, U251) and a malignant meningioma cell line (IOMM-Lee) were each transplanted intracranially into 5 nude mice. Tumor size was periodically monitored and mice were euthanized at appropriate time points. The stiffness of the tumor and normal brain tissue was measured using a master-slave integrated surgical forceps prototype. The results statistically showed that all four types of brain tumor tissues were stiffer than normal brain tissues. (p = 0.001) In addition, malignant meningioma was statistically stiffer than glioblastomas. (p = 0.025) This result is consistent with actual surgical sensations. We have shown that our surgical forceps has the ability to distinguish pathology of brain tumors as well as to distinguish brain tumor from normal brain tissue. The forceps is also helpful for the neurosurgeons to sense minute change in tissue stiffness.