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Evaluating manual palpation trajectory patterns in tele-manipulation for soft tissue examination

Research output: Chapter in Book/Report/Conference proceedingConference paper

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
PublisherIEEE
Pages4190-4195
Number of pages6
ISBN (Print)9780769551548
DOIs
Publication statusPublished - Oct 2013
Event2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
Duration: 13 Oct 201316 Oct 2013

Conference

Conference2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
CountryUnited Kingdom
CityManchester
Period13/10/201316/10/2013

King's Authors

Abstract

Robot-assisted minimal invasive surgery made it possible to improve the quality of surgical procedures and to enhance clinical outcomes. However, the need to palpate soft tissue organs with the aim to localize potential sites of abnormalities in real time has been recognized. For this work, ten subjects were recruited to perform a remote palpation procedure on a silicone phantom utilizing a tele-manipulation setup, to study their behavior when remotely palpating soft tissue. The stiffness values acquired during the remote palpation of a silicone phantom were transferred to the subjects by means of haptic and visual feedback. Participating subjects were asked to detect hard nodules in the silicone tissue using two distinct strategies: A) randomly chosen movements, and b) trajectory pattern, based on manual palpation techniques for clinical breast examination. We have compared relevant parameters, defining patterns observed during manual palpation, with the counterpart patterns occurring during remote palpation. The results show the effectiveness of applying palpation trajectory pattern used during manual soft tissue examination to tele-manipulation palpation.

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