NDLI: New approach for abnormal tissue localization with robotic palpation and mechanical property characterization

Content Provider	IEEE Xplore Digital Library
Author	Bummo Ahn Yeongjin Kim Jung Kim
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 305-701, Korea (Bummo Ahn; Yeongjin Kim; Jung Kim)
Abstract	Robotic palpation is of major interest as a medical technique that could replace subjective palpation and tactile sensation by yielding precisely controlled palpation to tissues and quantitative tactile feedback acquisition. Palpation results and biomechanics based mechanical property characterization are possible solutions that could enable the acquisition of objective and quantitative information on abnormal tissue localization during diagnosis and surgery. This paper presents an integrated approach for robotic palpation and mechanical property characterization. To validate the proposed methods, robotic palpation experiments on silicone soft-tissue phantoms with embedded hard inclusions were performed using a robotic palpation system, and the force responses of the phantoms were measured. Furthermore, we carried out a numerical analysis simulating the experiments and estimating the objective and quantitative properties of the tissues.
Starting Page	4516
Ending Page	4521
File Size	1516055
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094786
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Phantoms Force Medical services Robot sensing systems Fingers
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in