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. 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. 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. 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.

Osteoarthritis (OA) of the knee is characterized by cartilage matrix degeneration, which eventually leads to joint dysfunction and surgical replacement. Preoperative radiography, the standard for treatment decision making, provides limited information on the extent of degeneration, emphasizing the need for quantitative intraoperative techniques. This study evaluates the potential of vibroacoustic signals generated from instrument–tissue interactions to assess cartilage degeneration severity. A total of 136 ex vivo cartilage specimens of varying degeneration severity, histologically graded using the OARSI score, were collected from 41 patients undergoing arthroplasty. The specimens were classified into three groups: healthy cartilage (OARSI $\le 2.0$), degenerated cartilage (OARSI ≥ 2.5), and subchondral bone. Vibroacoustic signals were captured during specimen palpation using a vibration measurement system affixed to a surgical probe. 26 characteristic signal features were extracted using Continuous-Wavelet Transformation, and their discriminative power was assessed using Support Vector Machine and k-Nearest-Neighbor classifiers under patient- and specimen-level grouped cross-validation with nested hyperparameter tuning. Bone was distinguished from cartilage with 84–$91\%$ recall. Healthy cartilage (OARSI $\le 2.0$) was identifiable with 74–$80\%$ sensitivity, whereas the specificity for degenerated cartilage (OARSI ≥ 2.5) remained limited (40–$57\%$), constituting the principal limitation of the approach. Interpreting the binary cartilage classification as a diagnostic test, a receiver-operating characteristic (ROC) analysis yielded an area under the curve (AUC) of up to $0.66$ ($95\%$ CI [$0.56$, $0.76$]). The study demonstrates that vibroacoustic signals from instrument–tissue interactions may provide complementary information for intraoperative cartilage evaluation and may contribute to decision making in arthroplasty, while the reliable grading of cartilage degeneration remains an open challenge.