Force-velocity modulation strategies for soft tissue examination

TY - CHAP

T1 - Force-velocity modulation strategies for soft tissue examination

AU - Konstantinova, Jelizaveta

AU - Li, Min

AU - Aminzadeh, Vahid

AU - Dasgupta, Prokar

AU - Althoefer, Kaspar

AU - Nanayakkara, Thrishantha

PY - 2013/11

Y1 - 2013/11

N2 - Advanced tactile tools in minimally invasive surgery have become a pressing need in order to reduce time and improve accuracy in localizing potential tissue abnormalities. In this regard, one of the main challenges is to be able to estimate tissue parameters in real time. In palpation, tactile information felt at a given location is identified by the viscoelastic dynamics of the neighboring tissue. Due to this reason the tissue examination behavior and the distribution of viscoelastic parameters in tissue should be considered in conjunction. This paper investigates the salient features of palpation behavior on soft tissue determining the effectiveness of localizing hard nodules. Experimental studies involving human participants, and validation tests using finite element simulations and a tele-manipulator, were carried out. Two distinctive tissue examination strategies in force-velocity modulation for the given properties of target tissue were found. Experimental results suggest that force-velocity modulations during continuous path measurements are playing an important role in the process of mechanical soft tissue examination. These behavioral insights, validated by detailed numerical models and robotic experimentations shed light on future designs of optimal robotic palpation.

AB - Advanced tactile tools in minimally invasive surgery have become a pressing need in order to reduce time and improve accuracy in localizing potential tissue abnormalities. In this regard, one of the main challenges is to be able to estimate tissue parameters in real time. In palpation, tactile information felt at a given location is identified by the viscoelastic dynamics of the neighboring tissue. Due to this reason the tissue examination behavior and the distribution of viscoelastic parameters in tissue should be considered in conjunction. This paper investigates the salient features of palpation behavior on soft tissue determining the effectiveness of localizing hard nodules. Experimental studies involving human participants, and validation tests using finite element simulations and a tele-manipulator, were carried out. Two distinctive tissue examination strategies in force-velocity modulation for the given properties of target tissue were found. Experimental results suggest that force-velocity modulations during continuous path measurements are playing an important role in the process of mechanical soft tissue examination. These behavioral insights, validated by detailed numerical models and robotic experimentations shed light on future designs of optimal robotic palpation.

UR - http://www.scopus.com/inward/record.url?scp=84893781288&partnerID=8YFLogxK

U2 - 10.1109/IROS.2013.6696622

DO - 10.1109/IROS.2013.6696622

M3 - Conference paper

AN - SCOPUS:84893781288

SN - 9781467363587

SP - 1998

EP - 2003

BT - Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013

Y2 - 3 November 2013 through 8 November 2013

ER -