Teletactile System Based on Mechanical Properties Estimation
Tactile feedback is a major missing feature in minimally invasive procedures; it is an essential means of diagnosis and orientation during surgical procedures. Previous works have presented a remote palpation feedback system based on the coupling between a pressure sensor and a general haptic interf...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.3233/ABB-2011-0023 |
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| _version_ | 1832553286542032896 |
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| author | Mauro M. Sette Hendrik Van Brussel Jos Vander Sloten |
| author_facet | Mauro M. Sette Hendrik Van Brussel Jos Vander Sloten |
| author_sort | Mauro M. Sette |
| collection | DOAJ |
| description | Tactile feedback is a major missing feature in minimally invasive procedures; it is an essential means of diagnosis and orientation during surgical procedures. Previous works have presented a remote palpation feedback system based on the coupling between a pressure sensor and a general haptic interface. Here a new approach is presented based on the direct estimation of the tissue mechanical properties and finally their presentation to the operator by means of a haptic interface. The approach presents different technical difficulties and some solutions are proposed: the implementation of a fast Young’s modulus estimation algorithm, the implementation of a real time finite element model, and finally the implementation of a stiffness estimation approach in order to guarantee the system’s stability. The work is concluded with an experimental evaluation of the whole system. |
| format | Article |
| id | doaj-art-b38f7d5023ac4d86a975652c8f63d42c |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-b38f7d5023ac4d86a975652c8f63d42c2025-02-03T05:54:24ZengWileyApplied Bionics and Biomechanics1176-23221754-21032011-01-018223725210.3233/ABB-2011-0023Teletactile System Based on Mechanical Properties EstimationMauro M. Sette0Hendrik Van Brussel1Jos Vander Sloten2Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, BelgiumDepartment of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, BelgiumDepartment of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, BelgiumTactile feedback is a major missing feature in minimally invasive procedures; it is an essential means of diagnosis and orientation during surgical procedures. Previous works have presented a remote palpation feedback system based on the coupling between a pressure sensor and a general haptic interface. Here a new approach is presented based on the direct estimation of the tissue mechanical properties and finally their presentation to the operator by means of a haptic interface. The approach presents different technical difficulties and some solutions are proposed: the implementation of a fast Young’s modulus estimation algorithm, the implementation of a real time finite element model, and finally the implementation of a stiffness estimation approach in order to guarantee the system’s stability. The work is concluded with an experimental evaluation of the whole system.http://dx.doi.org/10.3233/ABB-2011-0023 |
| spellingShingle | Mauro M. Sette Hendrik Van Brussel Jos Vander Sloten Teletactile System Based on Mechanical Properties Estimation Applied Bionics and Biomechanics |
| title | Teletactile System Based on Mechanical Properties Estimation |
| title_full | Teletactile System Based on Mechanical Properties Estimation |
| title_fullStr | Teletactile System Based on Mechanical Properties Estimation |
| title_full_unstemmed | Teletactile System Based on Mechanical Properties Estimation |
| title_short | Teletactile System Based on Mechanical Properties Estimation |
| title_sort | teletactile system based on mechanical properties estimation |
| url | http://dx.doi.org/10.3233/ABB-2011-0023 |
| work_keys_str_mv | AT mauromsette teletactilesystembasedonmechanicalpropertiesestimation AT hendrikvanbrussel teletactilesystembasedonmechanicalpropertiesestimation AT josvandersloten teletactilesystembasedonmechanicalpropertiesestimation |