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

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題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
頁面1270-1273
頁數4
DOIs
出版狀態Published - 2010
事件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
持續時間: 2010 八月 12010 八月 6

出版系列

名字IFMBE Proceedings
31 IFMBE
ISSN(列印)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
國家Singapore
城市Singapore
期間10-08-0110-08-06

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Biomedical Engineering

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