Autonomous robotic palpation of soft tissue using the modulation of applied force

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Title: Autonomous robotic palpation of soft tissue using the modulation of applied force
Authors: Konstantinova, J
Cotugno, G
Dasgupta, P
Althoefer, K
Nanayakkara, T
Item Type: Conference Paper
Abstract: Palpation or perception of tactile information from soft tissue organs during minimally invasive surgery is required to improve clinical outcomes. One of the methods of palpation includes examination using the modulation of applied force on the localized area. This paper presents a method of soft tissue autonomous palpation based on the mathematical model obtained from human tactile examination data using modulations of palpation force. Using a second order reactive auto-regressive model of applied force, a robotic probe with spherical indenter was controlled to examine silicone tissue phantoms containing artificial nodules. The results show that the autonomous palpation using the model abstracted from human demonstration can be used not only to detect embedded nodules, but also to enhance the stiffness perception compared to the static indentation of the probe.
Issue Date: 28-Jul-2016
Date of Acceptance: 26-Jun-2016
URI: http://hdl.handle.net/10044/1/51077
DOI: https://dx.doi.org/10.1109/BIOROB.2016.7523646
ISBN: 9781509032877
ISSN: 2155-1774
Published Proceedings: IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics 2016
Start Page: 323
End Page: 328
Journal / Book Title: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Location: Singapore
Publication Status: Published
Start Date: 2016-06-26
Finish Date: 2016-06-29
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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