Development of vision-based tactile sensor for palpation of pathological soft tissues

Chien Shien Yeh, Ming-Shaung Ju, Yuri Martynenko, Irina Goryacheva, Fong-chin Su

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

3 Citations (Scopus)

Abstract

Palpation is an important procedure for surgeons to diagnose pathology of soft tissues of internal organs such as the liver and the stomach. A vision-based tactile sensor system to aid the surgeons in diagnosis of soft tissues was developed. The sensor was consisted of a CCD, a focusing lens, and a spherical shell sensor head made of transparent PDMS. The CCD can quantify the contact area between the shell sensor and the indented soft tissue. Finite element analyses of the contact mechanics between the sensor head and soft tissues were performed to determine the optimal geometry and elastic properties of the sensor head. After calibrations, an empirical formula for estimating stiffness of soft tissues was obtained and the sensor was employed to measure in vitro Young's moduli of porcine livers and boiled porcine livers that simulated the hepatocirrhosis. The results showed that the vision-based tactile sensor system is quite linear and has a sensitivity of 12.08 (g/mm2). The tactile sensor succeeds in differentiating the pathological from the normal liver tissues.

Original languageEnglish
Title of host publication6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech
Pages1270-1273
Number of pages4
DOIs
Publication statusPublished - 2010 Oct 22
Event6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech - Singapore, Singapore
Duration: 2010 Aug 12010 Aug 6

Publication series

NameIFMBE Proceedings
Volume31 IFMBE
ISSN (Print)1680-0737

Other

Other6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech
CountrySingapore
CitySingapore
Period10-08-0110-08-06

Fingerprint

Tissue
Sensors
Liver
Charge coupled devices
Pathology
Lenses
Mechanics
Elastic moduli
Stiffness
Calibration
Geometry

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering
  • Bioengineering

Cite this

Yeh, C. S., Ju, M-S., Martynenko, Y., Goryacheva, I., & Su, F. (2010). Development of vision-based tactile sensor for palpation of pathological soft tissues. In 6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech (pp. 1270-1273). (IFMBE Proceedings; Vol. 31 IFMBE). https://doi.org/10.1007/978-3-642-14515-5_322
Yeh, Chien Shien ; Ju, Ming-Shaung ; Martynenko, Yuri ; Goryacheva, Irina ; Su, Fong-chin. / Development of vision-based tactile sensor for palpation of pathological soft tissues. 6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech. 2010. pp. 1270-1273 (IFMBE Proceedings).
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Yeh, CS, Ju, M-S, Martynenko, Y, Goryacheva, I & Su, F 2010, Development of vision-based tactile sensor for palpation of pathological soft tissues. in 6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech. IFMBE Proceedings, vol. 31 IFMBE, pp. 1270-1273, 6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech, Singapore, Singapore, 10-08-01. https://doi.org/10.1007/978-3-642-14515-5_322

Development of vision-based tactile sensor for palpation of pathological soft tissues. / Yeh, Chien Shien; Ju, Ming-Shaung; Martynenko, Yuri; Goryacheva, Irina; Su, Fong-chin.

6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech. 2010. p. 1270-1273 (IFMBE Proceedings; Vol. 31 IFMBE).

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

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AU - Yeh, Chien Shien

AU - Ju, Ming-Shaung

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AU - Su, Fong-chin

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N2 - Palpation is an important procedure for surgeons to diagnose pathology of soft tissues of internal organs such as the liver and the stomach. A vision-based tactile sensor system to aid the surgeons in diagnosis of soft tissues was developed. The sensor was consisted of a CCD, a focusing lens, and a spherical shell sensor head made of transparent PDMS. The CCD can quantify the contact area between the shell sensor and the indented soft tissue. Finite element analyses of the contact mechanics between the sensor head and soft tissues were performed to determine the optimal geometry and elastic properties of the sensor head. After calibrations, an empirical formula for estimating stiffness of soft tissues was obtained and the sensor was employed to measure in vitro Young's moduli of porcine livers and boiled porcine livers that simulated the hepatocirrhosis. The results showed that the vision-based tactile sensor system is quite linear and has a sensitivity of 12.08 (g/mm2). The tactile sensor succeeds in differentiating the pathological from the normal liver tissues.

AB - Palpation is an important procedure for surgeons to diagnose pathology of soft tissues of internal organs such as the liver and the stomach. A vision-based tactile sensor system to aid the surgeons in diagnosis of soft tissues was developed. The sensor was consisted of a CCD, a focusing lens, and a spherical shell sensor head made of transparent PDMS. The CCD can quantify the contact area between the shell sensor and the indented soft tissue. Finite element analyses of the contact mechanics between the sensor head and soft tissues were performed to determine the optimal geometry and elastic properties of the sensor head. After calibrations, an empirical formula for estimating stiffness of soft tissues was obtained and the sensor was employed to measure in vitro Young's moduli of porcine livers and boiled porcine livers that simulated the hepatocirrhosis. The results showed that the vision-based tactile sensor system is quite linear and has a sensitivity of 12.08 (g/mm2). The tactile sensor succeeds in differentiating the pathological from the normal liver tissues.

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Yeh CS, Ju M-S, Martynenko Y, Goryacheva I, Su F. Development of vision-based tactile sensor for palpation of pathological soft tissues. In 6th World Congress of Biomechanics, WCB 2010 - In Conjunction with 14th International Conference on Biomedical Engineering, ICBME and 5th Asia Pacific Conference on Biomechanics, APBiomech. 2010. p. 1270-1273. (IFMBE Proceedings). https://doi.org/10.1007/978-3-642-14515-5_322