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 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

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

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  • 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] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650278