Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation

Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    6 Citations (Scopus)

    Abstract

    In this paper we present a new robotic palpation method to perform quantitative measurement of the material parameters of human tissues, for use in medical applications. The proposed method is achieved by the use of a system that integrates a robotic component and a numerical simulation component. The robotic component is used to measure the contact force and displacement at each point on the human body contacted by a robotic probe. The numerical simulation component identifies the material parameters using the proposed method, where two data sources are used, namely, (1) the measured data from the robotic part, and (2) simulated deformation data obtained by the finite element method. In order to validate the proposed system, we report initial results from several phantom tissue experiments, which demonstrate the ability of the system to quantitatively determine the elastic moduli of tissues. We also discuss several potential challenges in the future of the proposed system.

    Original languageEnglish
    Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    Pages2822-2828
    Number of pages7
    DOIs
    Publication statusPublished - 2010
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
    Duration: 2010 Oct 182010 Oct 22

    Other

    Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    CityTaipei
    Period10/10/1810/10/22

    Fingerprint

    Force measurement
    Robotics
    Tissue
    Computer simulation
    Medical applications
    Elastic moduli
    Finite element method
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction
    • Control and Systems Engineering

    Cite this

    Hoshi, T., Kobayashi, Y., Miyashita, T., & Fujie, M. G. (2010). Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 2822-2828). [5650278] https://doi.org/10.1109/IROS.2010.5650278

    Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation. / Hoshi, Takeharu; Kobayashi, Yo; Miyashita, Tomoyuki; Fujie, Masakatsu G.

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 2822-2828 5650278.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Hoshi, T, Kobayashi, Y, Miyashita, T & Fujie, MG 2010, Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5650278, pp. 2822-2828, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, 10/10/18. https://doi.org/10.1109/IROS.2010.5650278
    Hoshi T, Kobayashi Y, Miyashita T, Fujie MG. Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 2822-2828. 5650278 https://doi.org/10.1109/IROS.2010.5650278
    Hoshi, Takeharu ; Kobayashi, Yo ; Miyashita, Tomoyuki ; Fujie, Masakatsu G. / Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 2822-2828
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