Real-Time Vision-Based Stiffness Mapping †
This paper presents new findings concerning a hand-held stiffness probe for the medical diagnosis of abnormalities during palpation of soft-tissue. Palpation is recognized by the medical community as an essential and low-cost method to detect and diagnose disease in soft-tissue. However, differences...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-04-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/5/1347 |
| _version_ | 1811303923266355200 |
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| author | Angela Faragasso João Bimbo Agostino Stilli Helge Arne Wurdemann Kaspar Althoefer Hajime Asama |
| author_facet | Angela Faragasso João Bimbo Agostino Stilli Helge Arne Wurdemann Kaspar Althoefer Hajime Asama |
| author_sort | Angela Faragasso |
| collection | DOAJ |
| description | This paper presents new findings concerning a hand-held stiffness probe for the medical diagnosis of abnormalities during palpation of soft-tissue. Palpation is recognized by the medical community as an essential and low-cost method to detect and diagnose disease in soft-tissue. However, differences are often subtle and clinicians need to train for many years before they can conduct a reliable diagnosis. The probe presented here fills this gap providing a means to easily obtain stiffness values of soft tissue during a palpation procedure. Our stiffness sensor is equipped with a multi degree of freedom (DoF) Aurora magnetic tracker, allowing us to track and record the 3D position of the probe whilst examining a tissue area, and generate a 3D stiffness map in real-time. The stiffness probe was integrated in a robotic arm and tested in an artificial environment representing a good model of soft tissue organs; the results show that the sensor can accurately measure and map the stiffness of a silicon phantom embedded with areas of varying stiffness. |
| first_indexed | 2024-04-13T07:56:39Z |
| format | Article |
| id | doaj.art-339188a39e5048d584d61a1cf48fa6ac |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T07:56:39Z |
| publishDate | 2018-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-339188a39e5048d584d61a1cf48fa6ac2022-12-22T02:55:23ZengMDPI AGSensors1424-82202018-04-01185134710.3390/s18051347s18051347Real-Time Vision-Based Stiffness Mapping †Angela Faragasso0João Bimbo1Agostino Stilli2Helge Arne Wurdemann3Kaspar Althoefer4Hajime Asama5Department of Precision Engineering, School of Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo-ku, Tokyo 113-8656, JapanIstituto Italiano di Tecnologia (IIT), Via Morego, 30 16163 Genova, ItalyDepartment of Computer Science, University College London, London WC1E 6BT, UKDepartment of Mechanical Engineering, University College London, London WC1E 7JE, UKCentre for Advanced Robotics at Queen Mary (ARQ), Faculty of Science & Engineering, Queen Mary University of London, Mile End Road, London E1 4NS, UKDepartment of Precision Engineering, School of Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo-ku, Tokyo 113-8656, JapanThis paper presents new findings concerning a hand-held stiffness probe for the medical diagnosis of abnormalities during palpation of soft-tissue. Palpation is recognized by the medical community as an essential and low-cost method to detect and diagnose disease in soft-tissue. However, differences are often subtle and clinicians need to train for many years before they can conduct a reliable diagnosis. The probe presented here fills this gap providing a means to easily obtain stiffness values of soft tissue during a palpation procedure. Our stiffness sensor is equipped with a multi degree of freedom (DoF) Aurora magnetic tracker, allowing us to track and record the 3D position of the probe whilst examining a tissue area, and generate a 3D stiffness map in real-time. The stiffness probe was integrated in a robotic arm and tested in an artificial environment representing a good model of soft tissue organs; the results show that the sensor can accurately measure and map the stiffness of a silicon phantom embedded with areas of varying stiffness.http://www.mdpi.com/1424-8220/18/5/1347stiffness sensorsoft tissue characterizationhand-held probemedical examinationpalpation |
| spellingShingle | Angela Faragasso João Bimbo Agostino Stilli Helge Arne Wurdemann Kaspar Althoefer Hajime Asama Real-Time Vision-Based Stiffness Mapping † Sensors stiffness sensor soft tissue characterization hand-held probe medical examination palpation |
| title | Real-Time Vision-Based Stiffness Mapping † |
| title_full | Real-Time Vision-Based Stiffness Mapping † |
| title_fullStr | Real-Time Vision-Based Stiffness Mapping † |
| title_full_unstemmed | Real-Time Vision-Based Stiffness Mapping † |
| title_short | Real-Time Vision-Based Stiffness Mapping † |
| title_sort | real time vision based stiffness mapping † |
| topic | stiffness sensor soft tissue characterization hand-held probe medical examination palpation |
| url | http://www.mdpi.com/1424-8220/18/5/1347 |
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