Deformation-Aware Robotic 3D Ultrasound [PDF]
IEEE Robotics and Automation Letters 2021, 2021 Tissue deformation in ultrasound (US) imaging leads to geometrical errors when measuring tissues due to the pressure exerted by probes. Such deformation has an even larger effect on 3D US volumes as the correct compounding is limited by the inconsistent location and geometry.
arxiv +1 more source
A Technology-aided Multi-modal Training Approach to Assist Abdominal Palpation Training and its Assessment in Medical Education [PDF]
, 2020 Computer-assisted multimodal training is an effective way of learning complex motor skills in various applications. In particular disciplines (eg. healthcare) incompetency in performing dexterous hands-on examinations (clinical palpation) may result in misdiagnosis of symptoms, serious injuries or even death.
arxiv +1 more source
Visuohaptic augmented feedback for enhancing motor skills acquisition [PDF]
, 2020 Serious games are accepted as an effective approach to deliver augmented feedback in motor (re-) learning processes. The multi-modal nature of the conventional computer games (e.g. audiovisual representation) plus the ability to interact via haptic-enabled inputs provides a more immersive experience.
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Haptic Simulator for Liver Diagnostics through Palpation [PDF]
Medicine Meets Virtual Reality 19, 2012, pp.156-160, 2019 Mechanical properties of biological tissue for both histological and pathological considerations are often required in disease diagnostics. Such properties can be simulated and explored with haptic technology. Development of cost effective haptic-based simulators and their introduction in the minimally invasive surgery learning cycle is still in its ...
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Deep Movement Primitives: toward Breast Cancer Examination Robot [PDF]
arXiv, 2022 Breast cancer is the most common type of cancer worldwide. A robotic system performing autonomous breast palpation can make a significant impact on the related health sector worldwide. However, robot programming for breast palpating with different geometries is very complex and unsolved.
arxiv
Liver Pathology Simulation: Algorithm for Haptic Rendering and Force Maps for Palpation Assessment [PDF]
Medicine Meets Virtual Reality MMVR, 2013, pp. 175-181, 2019 Preoperative gestures include tactile sampling of the mechanical properties of biological tissue for both histological and pathological considerations. Tactile properties used in conjunction with visual cues can provide useful feedback to the surgeon.
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Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation [PDF]
arXiv, 2021 Cricothyrotomy is a life-saving emergency intervention that secures an alternate airway route after a neck injury or obstruction. The procedure starts with identifying the correct location (the cricothyroid membrane) for creating an incision to insert an endotracheal tube.
arxiv
RASEC: Rescaling Acquisition Strategy with Energy Constraints under SE-OU Fusion Kernel for Active Trachea Palpation and Incision Recommendation in Laryngeal Region [PDF]
arXiv, 2021 A novel palpation-based incision detection strategy in the laryngeal region, potentially for robotic tracheotomy, is proposed in this letter. A tactile sensor is introduced to measure tissue hardness in the specific laryngeal region by gentle contact.
arxiv
Tactile Sensing with a Tendon-Driven Soft Robotic Finger [PDF]
arXiv, 2021 In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's tendon.
arxiv
A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration [PDF]
arXiv, 2021 We present a novel robot end-effector for gripping and haptic exploration. Tactile sensing through suction flow monitoring is applied to a new suction cup design that contains multiple chambers for air flow. Each chamber connects with its own remote pressure transducer, which enables both absolute and differential pressure measures between chambers. By
arxiv