Enhanced tactile sensor for the minimally invasive robotic palpation

Kwon, Joon Ho; Hwang, Jung Hoon; An, Jinung; Yang, Gi-Hun; Hong, Daehie

doi:10.1109/aim.2014.6878274

Cited by 3 publications

(1 citation statement)

References 6 publications

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“…Several technologies have been used to integrate tactile sensing in robotic palpation probes. For instance, Kwon et al [27] designed a tactile sensor for robotic palpation based on an array of pressure-sensitive resistors. Xie et al [28] used an array of optical sensors to measure the contact pressure during MIS palpation.…”

Section: Related Workmentioning

confidence: 99%

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

Herzig

Maiolino

et al. 2020

PLoS ONE

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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.

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Section: Related Workmentioning

confidence: 99%