TY - JOUR
T1 - Estimation of tissue stiffness using a prototype of air-float stiffness probe
T2 - Robotics and Automation (ICRA), 2014 IEEE International Conference on
AU - Wanninayake, Indika B.
AU - Seneviratne, Lakmal D.
AU - Althoefer, Kaspar
PY - 2014/9/22
Y1 - 2014/9/22
N2 - This paper presents a novel technique for estimating stiffness distribution of a soft tissue using a prototype of air-float stiffness probe. The air-float stiffness probe uses an indentation technique to estimate tissue stiffness. It consists of a spherical indenter and an indentation depth sensing mechanism that operates under a supply of compressed air. The probe has the ability to estimate tissue stiffness in non-planner tissue profiles. A novel technique to estimate indentation force, using supply air pressure is described and validated using both experimental procedures and finite element analysis (FEA) techniques. FEA package, ANSYS CFX was used for analyzing in 2D the solid-fluid interactions within the probe to estimate force available at the indenter at different supply air pressure settings. Both the experimental results and numerical simulations suggest that there is a very strong linear correlation between the indentation force and the supply air pressure. This relationship is used to estimate the indentation force in real time during an indentation test. Verification tests carried out on simulated silicon samples showed that the probe is capable of estimating tissue stiffness values with high accuracy and repeatability.
AB - This paper presents a novel technique for estimating stiffness distribution of a soft tissue using a prototype of air-float stiffness probe. The air-float stiffness probe uses an indentation technique to estimate tissue stiffness. It consists of a spherical indenter and an indentation depth sensing mechanism that operates under a supply of compressed air. The probe has the ability to estimate tissue stiffness in non-planner tissue profiles. A novel technique to estimate indentation force, using supply air pressure is described and validated using both experimental procedures and finite element analysis (FEA) techniques. FEA package, ANSYS CFX was used for analyzing in 2D the solid-fluid interactions within the probe to estimate force available at the indenter at different supply air pressure settings. Both the experimental results and numerical simulations suggest that there is a very strong linear correlation between the indentation force and the supply air pressure. This relationship is used to estimate the indentation force in real time during an indentation test. Verification tests carried out on simulated silicon samples showed that the probe is capable of estimating tissue stiffness values with high accuracy and repeatability.
UR - http://www.scopus.com/inward/record.url?scp=84929180286&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907039
DO - 10.1109/ICRA.2014.6907039
M3 - Conference paper
AN - SCOPUS:84929180286
SN - 1042-296X
SP - 1426
EP - 1431
JO - IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
JF - IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
M1 - 6907039
ER -