Detection of tumours using a computational tactile sensing approach

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Tactile detection of a tumor and an artery in a tissue and distinction of a healthy artery from a stenotic artery, using finite element method, are presented. Four 2D models of tissue have been created: tissue itself, tissue including a tumor (TIT), tissue including a healthy artery (TIHA), and tissue including a stenotic artery (TISA). After solving four models with similar boundary conditions and loadings, the 2D tactile mappings and stress graphs for upper nodes of models, which have key importance for transferring tactile data, were explored. Then, by comparing these results, if the stress values of nodes were constant and equal, tissue is unlikely to have any tumor or artery embedded. Otherwise, if the stress graph included a peak, the tissue had a tumor or an artery. Additionally, it was observed that the stress graph of tissue including an artery is time-dependent in comparison with the tissue including a tumor. Further, it was concluded that a stenotic artery had larger stress peak than a healthy artery.

Section: Resultssupporting

confidence: 85%

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Tactile Distinction of an Artery and a Tumor in a Soft Tissue by Finite Element Method

Mehrizi¹,

Najarian²,

Moini³

et al. 2008

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“…Endoscopic or laparoscopic surgeries are among the most popular kinds of minimally invasive surgeries (MIS) which have been developed to decrease the traumatic effects of various types of surgeries [1][2][3][4][5] . In this kind of operative procedure and unlike open surgeries, the surgeons cannot use their hands directly in manipulating the operation site.…”

Section: Introductionmentioning

confidence: 99%

Orientation Detection of Sensed Objects using a Four Sensor Tactile System with Applications in Bio-Robotics

Mirbagheri¹,

Dargahi²,

Najarian³

et al. 2007

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Abstract:A novel approach is presented that can be used in determining the sensitivity of a four sensor tactile sensor to the orientation of the contacted objects. Computer simulations were conducted by using a rectangular probe of 14 mm by 7 mm size and applying three magnitudes of forces, i.e., 0.5, 1, and 2 N. A bi-variate function was obtained, showing the amount of output charge against both the angle of orientation and the magnitude of the applied force. By computing the errors, the proposed model proved efficient in predicting the orientation of sensed objects with reasonable accuracy.

“…By designing of a suitable sensor, it is possible to map a complete tactile image of the structure under investigation [4] . These systems have a considerable number of potential application areas including minimally invasive surgery (MIS) [5] . MIS is now being widely used as one of the most preferred choices for various types of operations.…”

Section: Introductionmentioning

confidence: 99%

Mathematical Modeling of a Tactile Sensor with Applications in Minimally Invasive Surgery

Mirbagheri¹,

Najarian²,

Dargahi³

et al. 2007

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This paper describes mathematical modeling of a novel supported tactile sensor. This system has only three or four sensing elements instead of an array configuration. By writing a code, together with using the piezoelectric capabilities of the finite element analysis software, it is possible to extract the stresses developed in the tactile membrane along the edges of the sensing elements, and convert them to output electrical charges. The comparison between the proposed mathematical modeling and the experimentally obtained data shows good agreement.