Action augmentation of tactile perception for soft-body palpation
Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understood because of the complex interaction dynamics be...
| Main Authors: | , , , , , |
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| Format: | Journal article |
| Language: | English |
| Published: |
Mary Ann Liebert
2021
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| _version_ | 1826307559695319040 |
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| author | Scimeca, L Hughes, J Maiolino, P He, L Nanayakkara, T Iida, F |
| author_facet | Scimeca, L Hughes, J Maiolino, P He, L Nanayakkara, T Iida, F |
| author_sort | Scimeca, L |
| collection | OXFORD |
| description | Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate
the soft human tissue. This can be to enable the diagnosis of possibly life-threatening conditions, such
as cancer. Palpation is still poorly understood because of the complex interaction dynamics between
the practitioners’ hands and the soft human body. To understand this complex soft body interactions,
we explore robotic palpation for the purpose of diagnosing the presence of abnormal inclusions, or
tumours. Using a Bayesian framework for diagnosis, we show that the for the exploration of soft bodies
we require complex, multi-axis, palpation trajectories. We also find that this probabilistic approach is
capable of rapidly searching the large action space of the robot. This work progress ’robotic’ palpation,
and provides frameworks for understanding and exploiting soft body interactions. |
| first_indexed | 2024-03-07T07:04:56Z |
| format | Journal article |
| id | oxford-uuid:8ca20fd3-9fb0-4c83-a930-2196962999c8 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T07:04:56Z |
| publishDate | 2021 |
| publisher | Mary Ann Liebert |
| record_format | dspace |
| spelling | oxford-uuid:8ca20fd3-9fb0-4c83-a930-2196962999c82022-04-27T08:19:01ZAction augmentation of tactile perception for soft-body palpationJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:8ca20fd3-9fb0-4c83-a930-2196962999c8EnglishSymplectic ElementsMary Ann Liebert2021Scimeca, LHughes, JMaiolino, PHe, LNanayakkara, TIida, FMedical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understood because of the complex interaction dynamics between the practitioners’ hands and the soft human body. To understand this complex soft body interactions, we explore robotic palpation for the purpose of diagnosing the presence of abnormal inclusions, or tumours. Using a Bayesian framework for diagnosis, we show that the for the exploration of soft bodies we require complex, multi-axis, palpation trajectories. We also find that this probabilistic approach is capable of rapidly searching the large action space of the robot. This work progress ’robotic’ palpation, and provides frameworks for understanding and exploiting soft body interactions. |
| spellingShingle | Scimeca, L Hughes, J Maiolino, P He, L Nanayakkara, T Iida, F Action augmentation of tactile perception for soft-body palpation |
| title | Action augmentation of tactile perception for soft-body palpation |
| title_full | Action augmentation of tactile perception for soft-body palpation |
| title_fullStr | Action augmentation of tactile perception for soft-body palpation |
| title_full_unstemmed | Action augmentation of tactile perception for soft-body palpation |
| title_short | Action augmentation of tactile perception for soft-body palpation |
| title_sort | action augmentation of tactile perception for soft body palpation |
| work_keys_str_mv | AT scimecal actionaugmentationoftactileperceptionforsoftbodypalpation AT hughesj actionaugmentationoftactileperceptionforsoftbodypalpation AT maiolinop actionaugmentationoftactileperceptionforsoftbodypalpation AT hel actionaugmentationoftactileperceptionforsoftbodypalpation AT nanayakkarat actionaugmentationoftactileperceptionforsoftbodypalpation AT iidaf actionaugmentationoftactileperceptionforsoftbodypalpation |