A tactile sensing and feedback system for tumor localization

Min Li, Shan Luo, Guanghua Xu

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

14 Citations (Scopus)

Abstract

Haptic information such as pressure (tactile) distribution could improve the clinical outcomes significantly by helping to detect tumors within soft-tissue organs and indicating potential abnormalities. In open surgeries, fingers are used to obtain this information. However, current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. This paper describes a tactile sensing and feedback system, consisting of a colored tactile information display and pneumatic multi-fingered haptic feedback. This tissue stiffness feedback system is validated by palpating two phantom organs to locate tissue tumors. The results proved that the stiffness distribution is acquirable, visible, and palpable using our method.

Original languageEnglish
Title of host publication2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages259-262
Number of pages4
ISBN (Electronic)9781509008216
DOIs
Publication statusPublished - 21 Oct 2016
Event13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China
Duration: 19 Aug 201622 Aug 2016

Publication series

Name2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Conference

Conference13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Country/TerritoryChina
CityXian
Period19/08/201622/08/2016

Keywords

  • Haptic feedback
  • Palpation
  • Robot-assisted minimally invasive surgery
  • Tumor identification

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