Palpation force modulation strategies to identify hard regions in soft tissue organs

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Title: Palpation force modulation strategies to identify hard regions in soft tissue organs
Author(s): Nanayakkara, DPT
Konstantinova, J
Cotugno, G
Dasgupta, P
Althoefer, K
Item Type: Journal Article
Abstract: This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local areas and outline the role of force control. In addition, we investigate whether the applied force depends on the non-homogeneity of the soft tissue. Experimental results on manual palpation of soft silicone phantoms show that humans have a well defined force control pattern of probing that is used independently of the non-homogeneity of the soft tissue. We observed that the modulations of lateral forces are distributed around the mean frequency of 22.3 Hz. Furthermore, we found that the applied normal pressure during probing can be modeled using a second order reactive autoregressive model. These mathematical abstractions were implemented and validated for the autonomous palpation for different stiffness parameters using a robotic probe with a rigid spherical indentation tip. The results show that the autonomous robotic palpation strategy abstracted from human demonstrations is capable of not only detecting the embedded nodules, but also enhancing the stiffness perception compared to static indentation of the probe.
Publication Date: 15-Feb-2017
Date of Acceptance: 15-Feb-2017
URI: http://hdl.handle.net/10044/1/45732
DOI: https://dx.doi.org/10.1371/journal.pone.0171706
ISSN: 1932-6203
Publisher: Public Library of Science
Journal / Book Title: PLOS One
Volume: 12
Issue: 2
Copyright Statement: © 2017 Konstantinova et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Keywords: General Science & Technology
MD Multidisciplinary
Publication Status: Published
Article Number: e0171706
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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