NDLI: Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation

Content Provider	IEEE Xplore Digital Library
Author	Hoshi, T. Kobayashi, Y. Miyashita, T. Fujie, M.G.
Copyright Year	2010
Description	Author affiliation: Graduate School of Science and Engineering, Waseda University, Shinjuku Ward, Okubo, 3-4-1, Tokyo, Japan (Hoshi, T.) \|\| Faculty of Science and Engineering, Waseda University, Tokyo, Japan (Kobayashi, Y.; Miyashita, T.; Fujie, M.G.)
Abstract	In this paper we present a new robotic palpation method to perform quantitative measurement of the material parameters of human tissues, for use in medical applications. The proposed method is achieved by the use of a system that integrates a robotic component and a numerical simulation component. The robotic component is used to measure the contact force and displacement at each point on the human body contacted by a robotic probe. The numerical simulation component identifies the material parameters using the proposed method, where two data sources are used, namely, (1) the measured data from the robotic part, and (2) simulated deformation data obtained by the finite element method. In order to validate the proposed system, we report initial results from several phantom tissue experiments, which demonstrate the ability of the system to quantitatively determine the elastic moduli of tissues. We also discuss several potential challenges in the future of the proposed system.
Starting Page	2822
Ending Page	2828
File Size	1505347
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650278
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Materials Finite element methods Humans Robot sensing systems Phantoms Computational modeling
Content Type	Text
Resource Type	Article

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