King's College London

Research portal

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

Research output: Contribution to journalConference paper

Original languageEnglish
Article number201
Pages (from-to)323-328
Number of pages6
Journal2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Publication statusPublished - 28 Jul 2016


King's Authors


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.

Download statistics

No data available

View graph of relations

© 2018 King's College London | Strand | London WC2R 2LS | England | United Kingdom | Tel +44 (0)20 7836 5454