Faragasso, A;
Stilli, A;
Bimbo, J;
Wurdemann, HA;
Althoefer, K;
(2015)
Multi-axis stiffness sensing device for medical palpation.
In:
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 2711-2716).
IEEE: Hamburg, Germany.
Preview |
Text
Multi-axis stiffness sensing.pdf - Accepted Version Download (2MB) | Preview |
Abstract
This paper presents an innovative hand-held device able to compute stiffness when interacting with a soft object. The device is composed of four linear indenters and a USB camera. The stiffness is computed in real-time, tracking the movements of spherical features in the image of the camera. Those movements relate to the movements of the four indenters when interacting with a soft surface. Since the indenters are connected to springs with different spring constants, the displacement of the indenters varies when interacting with a soft object. The proposed multi-indenting device allows measuring the object's stiffness as well as the pan and tilt angles between the sensor and the surface of the soft object. Tests were performed to evaluate the accuracy of the proposed palpation mechanism against commercial springs of known stiffness. Results show that the accuracy and sensitivity of the proposed device increases with the softness of the examined object. Preliminary tests with silicon show the ability of the sensing mechanism to characterize phantom soft tissue for small indentation. It is noted that the results are not affected by the orientation of the device when probing the surface. The proposed sensing device can be used in different applications, such as external palpation for diagnosis or, if miniaturized, embedded on an endoscopic camera and used in Minimally Invasive Surgery (MIS).
| Type: | Proceedings paper |
|---|---|
| Title: | Multi-axis stiffness sensing device for medical palpation |
| Event: | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| ISBN-13: | 9781479999941 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS.2015.7353748 |
| Publisher version: | http://dx.doi.org/10.1109/IROS.2015.7353748 |
| Language: | English |
| Additional information: | Copyright © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| Keywords: | Cameras, Springs, Surgery, Biological tissues, Tracking, Robot sensing systems |
| UCL classification: | UCL 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 UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1478354 |
Archive Staff Only
 |
View Item |
