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Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe.

Herzig, N; He, L; Maiolino, P; Abad, S-A; Nanayakkara, T; (2020) Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe. PLoS One , 15 (8) , Article e0237379. 10.1371/journal.pone.0237379. Green open access

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Abstract

This paper provides a solution for fast haptic information gain during soft tissue palpation using a Variable Lever Mechanism (VLM) probe. More specifically, we investigate the impact of stiffness variation of the probe to condition likelihood functions of the kinesthetic force and tactile sensors measurements during a palpation task for two sweeping directions. Using knowledge obtained from past probing trials or Finite Element (FE) simulations, we implemented this likelihood conditioning in an autonomous palpation control strategy. Based on a recursive Bayesian inferencing framework, this new control strategy adapts the sweeping direction and the stiffness of the probe to detect abnormal stiff inclusions in soft tissues. This original control strategy for compliant palpation probes shows a sub-millimeter accuracy for the 3D localization of the nodules in a soft tissue phantom as well as a 100% reliability detecting the existence of nodules in a soft phantom.

Type: Article
Title: Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe.
Location: United States
Open access status: An open access version is available from UCL Discovery
DOI: 10.1371/journal.pone.0237379
Publisher version: https://doi.org/10.1371/journal.pone.0237379
Language: English
Additional information: © 2020 Herzig et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10107991
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