Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe.
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 m...
| Main Authors: | , , , , |
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| Format: | Journal article |
| Language: | English |
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Public Library of Science
2020
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| _version_ | 1826266755223257088 |
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| author | Maiolino, P Herzig, N He, L Abad, S-A Nanayakkara, T |
| author_facet | Maiolino, P Herzig, N He, L Abad, S-A Nanayakkara, T |
| author_sort | Maiolino, P |
| collection | OXFORD |
| description | 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. |
| first_indexed | 2024-03-06T20:43:46Z |
| format | Journal article |
| id | oxford-uuid:3527861d-5769-4a4f-8aa4-c225ce422c4b |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-06T20:43:46Z |
| publishDate | 2020 |
| publisher | Public Library of Science |
| record_format | dspace |
| spelling | oxford-uuid:3527861d-5769-4a4f-8aa4-c225ce422c4b2022-03-26T13:30:23ZConditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe.Journal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:3527861d-5769-4a4f-8aa4-c225ce422c4bEnglishSymplectic ElementsPublic Library of Science2020Maiolino, PHerzig, NHe, LAbad, S-ANanayakkara, TThis 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. |
| spellingShingle | Maiolino, P Herzig, N He, L Abad, S-A Nanayakkara, T Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe. |
| title | Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe. |
| title_full | Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe. |
| title_fullStr | Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe. |
| title_full_unstemmed | Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe. |
| title_short | Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe. |
| title_sort | conditioned haptic perception for 3d localization of nodules in soft tissue palpation with a variable stiffness probe |
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