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

Research output: Contribution to journalConference paper

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Autonomous robotic palpation of soft tissue using the modulation of applied force. / Konstantinova, Jelizaveta; Cotugno, Giuseppe; Dasgupta, Prokar; Nanayakkara, Thrishantha; Althoefer, Kaspar Alexander.

In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 28.07.2016, p. 323-328.

Research output: Contribution to journalConference paper

Harvard

Konstantinova, J, Cotugno, G, Dasgupta, P, Nanayakkara, T & Althoefer, KA 2016, 'Autonomous robotic palpation of soft tissue using the modulation of applied force', 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 323-328. https://doi.org/10.1109/BIOROB.2016.7523646

APA

Konstantinova, J., Cotugno, G., Dasgupta, P., Nanayakkara, T., & Althoefer, K. A. (2016). Autonomous robotic palpation of soft tissue using the modulation of applied force. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 323-328. [201]. https://doi.org/10.1109/BIOROB.2016.7523646

Vancouver

Konstantinova J, Cotugno G, Dasgupta P, Nanayakkara T, Althoefer KA. Autonomous robotic palpation of soft tissue using the modulation of applied force. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). 2016 Jul 28;323-328. 201. https://doi.org/10.1109/BIOROB.2016.7523646

Author

Konstantinova, Jelizaveta ; Cotugno, Giuseppe ; Dasgupta, Prokar ; Nanayakkara, Thrishantha ; Althoefer, Kaspar Alexander. / Autonomous robotic palpation of soft tissue using the modulation of applied force. In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). 2016 ; pp. 323-328.

Bibtex Download

@article{df6227e7aea44085bca6bbb81f835066,
title = "Autonomous robotic palpation of soft tissue using the modulation of applied force",
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.",
author = "Jelizaveta Konstantinova and Giuseppe Cotugno and Prokar Dasgupta and Thrishantha Nanayakkara and Althoefer, {Kaspar Alexander}",
year = "2016",
month = jul,
day = "28",
doi = "10.1109/BIOROB.2016.7523646",
language = "English",
pages = "323--328",
journal = "2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)",

}

RIS (suitable for import to EndNote) Download

TY - JOUR

T1 - Autonomous robotic palpation of soft tissue using the modulation of applied force

AU - Konstantinova, Jelizaveta

AU - Cotugno, Giuseppe

AU - Dasgupta, Prokar

AU - Nanayakkara, Thrishantha

AU - Althoefer, Kaspar Alexander

PY - 2016/7/28

Y1 - 2016/7/28

N2 - 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.

AB - 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.

U2 - 10.1109/BIOROB.2016.7523646

DO - 10.1109/BIOROB.2016.7523646

M3 - Conference paper

SP - 323

EP - 328

JO - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

JF - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

M1 - 201

ER -

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