Programmable prostate palpation simulator using property-changing pneumatic bladder

Talhan, Aishwari; Jeon, Seokhee

doi:10.1016/j.compbiomed.2018.03.010

Cited by 11 publications

(9 citation statements)

References 23 publications

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“…It is challenging to produce an unnoticeable realistic feeling of touch when the up to 15mm indentation and 8N force 3D haptic interface [76] shape and rigidity changing 3D haptic device an array of non-expandable balloons; stiffness is controlled by regulating the volume of air liver simulator for palpation [3] silicone liver model with controllable positive granular jamming tumors liver model fabricated with ecoflex 0010 and Slacker (1:1 ratio); double-layer balloon for tumour simulation with positive granular jamming for stiffness control virtual tissue palpation † [77] magnetic levitation haptic device an adjustable coil array consists of three current-carrying cylindrical coils to generate the effective magnetic field; real-time 3D positioning and tracking of the magnetic stylus accuracy (0.28mm) clinical breast examination simulator † † [78] static breast model with underlying force sensor platform 44 × 44 matrix sensor platform (250 × 250mm, TekscanBoston, MA); 90hz liver palpation simulator for laparoscopic surgery [79] 2 Phantom Omni* a Maryland pense the Maryland pense (Forceps) is attached to the haptic device and is restricted through a metal ring that simulates the trocar entry point. prostate palpation simulator † † [80] anatomy manikin with pneumatic controlled nodules double-layer balloon: internal layer (granular jamming, stiffness control), external layer (blown effect, size control) ophthalmic anesthesia palpation training [81] a manikin with embedded position sensor (soft-pots) and a load cell soft-pots (membrane potentiometers, Spectra Symbol 391, 40x10mm, estimation error less than 0.85%). soft 3D haptic shape display [82] shape and stiffness changing 3D haptic device an inflatable silicone membrane with embedded particle jamming cells (stiffness control) and soft pneumatic actuators (shape control).…”

Section: B Tactile Displays For Cutaneous Feebackmentioning

confidence: 99%

Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback

Maiolino

Leong

et al. 2023

IEEE Rev. Biomed. Eng.

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Tissue examination by hand remains an essential technique in clinical practice. The effective application depends on skills in sensorimotor coordination, mainly involving haptic, visual, and auditory feedback. The skills clinicians have to learn can be as subtle as regulating finger pressure with breathing, choosing palpation action, monitoring involuntary facial and vocal expressions in response to palpation, and using pain expressions both as a source of information and as a constraint on physical examination. Patient simulators can provide a safe learning platform to novice physicians before trying real patients. This paper reviews state-of-the-art medical simulators for the training for the first time with a consideration of providing multimodal feedback to learn as many manual examination techniques as possible. The study summarizes current advances in tissue examination training devices simulating different medical conditions and providing different types of feedback modalities. Opportunities with the development of pain expression, tissue modeling, actuation, and sensing are also analyzed to support the future design of effective tissue examination simulators.

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Section: B Tactile Displays For Cutaneous Feebackmentioning

confidence: 99%

Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback

Maiolino

Leong

et al. 2023

IEEE Rev. Biomed. Eng.

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“…It is challenging to render such experiences with conventional haptic feedback devices, many of which involve rigid elements whose attributes impair the ability of such devices to simulate many naturally soft and organic materials [254,255,256]. Recently, several skin-conformable haptic display devices based on pneumatic or hydraulic sources have been developed [257,258,122,259,260]. However, these often entail pumps that are bulky and slow to respond, making them hard to control [261].…”

Section: Chaptermentioning

confidence: 99%

Tactile Sensing, Information, and Feedback via Wave Propagation

Shao

2022

Springer Series on Touch and Haptic Systems

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Through my entire PhD study, I learned a lot from my colleagues in the RE Touch Lab. Discussions with Gregory Reardon about technical problems, like in physics or statistics, are always constructive and inspiring. Shantonu Biswas and Thanh Nho Do influenced me with their expertise in nanoengineering and material science. Also, I am lucky to have many supportive colleagues and friends in the lab. Anzu Kawazoe can always cheer me up with her lighthearted mood, unveiling the optimistic side of life to me. Zach Wells and Harald Schafer, beside research collaborations, brought me a lot of fun outside the lab, directing me to the ocean around Santa Barbara. I also very enjoyed the company of Yufei Hao, Taku Hachisu, Simone Fani, Jasper van der Lagemaat and Behnam Khojasteh during their visit to my lab. Starting from the time I joined the lab in Philadelphia, I have been gaining support from Marco Janko and Bin Li. I am really v grateful to have all of them as my colleagues. My friends outside the lab also helped me passing through the challenging paths toward the finish line of my PhD. I want to give special thanks to Mingwei Tang, my friend since childhood, who also obtained a PhD degree in the US. We traveled together to many sights and cities. Those trips reduced my anxiety and rebuilt my courage to march forward. I also value the friendship with Yan Kong and Zhenyu Yang, who provided me after-work entertainment in Harold Frank hall, and emotional support. I miss and appreciate the time with Pingge Jiang, Lei Song, Tao Sun, Yaou Zhou and Yanan Yang during my study in Philadelphia.I appreciate the love, care and support from my girlfriend, Huihui Zhang, during the last two years of my PhD. A delightful, sweet talk with her can always relieve my stress and hearten me, motivating me to look beyond the difficulties.Finally, I like to thank my family, especially my grandmother. I grew up bathing in her unconditional love. She was always proud of me and had the strongest belief in me, from preschool till PhD, granting me the faith to overcome any challenges. I deeply regret not being able to spend enough time with her at home.

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“…The stretchable membrane can be easily manufactured through the regular mixing, molding, and the curing processes of the Ecoflex silicone. To turn the Ecoflex silicone into non-stretchable silicone while preserving its flexibility in shape change, we embed a cotton fabric into the silicone membrane, as introduced in our previous publications [13], [14].…”

Section: B Fabrication Of Stretchable and Non-stretchable Membranementioning

confidence: 99%

Tactile Ring: Multi-Mode Finger-Worn Soft Actuator for Rich Haptic Feedback

2020

Self Cite

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This paper presents a novel finger-worn actuator capable of generating three distinctive haptic effects: static pressure, high-frequency vibration, and an impact. Our new design makes this multi-mode feedback with a single actuator possible in a small form factor. A ring-shaped air bladder made with soft silicone is inflated or deflated to generate feedback on the finger. The airflow is controlled by a pair of air valves connected to a compressed air tank. Besides static pressure, the actuator can generate high-frequency vibration with high acceleration and crisp impact feedback due to fast controllability of the valves with a strong air source and a lightweight bladder membrane. In addition, our special design and fabrication of the bladder-a combination of stretchable and non-stretchable membrane layers in the ring-allows for stronger feedback. Rendering algorithms for three kinds of feedback are also presented. The performance of the system and the characteristics of the feedback are thoroughly examined using a series of measurement experiments, revealing that the system can generate a static force up to 6.3 N, the vibration up to 2.2 g magnitude and 250 Hz frequency, and an impact with less than 5 ms of latency. The whole system weighs only 255 grams (4.5 grams for the actuator and 250 grams for the controller). Finally, we demonstrate the wearability of the system by integrating the modules into a self-contained haptic device in the form of a wristlet.

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Programmable prostate palpation simulator using property-changing pneumatic bladder

Cited by 11 publications

References 23 publications

Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback

Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback

Tactile Sensing, Information, and Feedback via Wave Propagation

Tactile Ring: Multi-Mode Finger-Worn Soft Actuator for Rich Haptic Feedback

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