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An abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training

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posted on 2023-06-09, 22:17 authored by Liang He, Nicolas HerzigNicolas Herzig, Simon De Lusignan, Luca Scimeca, Perla Maiolino, Fumiya Iida, Thrishantha Nanayakkara
Robotic phantoms enable advanced physical examination training before using human patients. In this article, we present an abdominal phantom for palpation training with controllable stiffness liver nodules that can also sense palpation forces. The coupled sensing and actuation approach is achieved by pneumatic control of positive-granular jammed nodules for tunable stiffness. Soft sensing is done using the variation of internal pressure of the nodules under external forces. This article makes original contributions to extend the linear region of the neo-Hookean characteristic of the mechanical behavior of the nodules by 140% compared to no-jamming conditions and to propose a method using the organ level controllable nodules as sensors to estimate palpation position and force with a root-mean-square error of 4% and 6.5%, respectively. Compared to conventional soft sensors, the method allows the phantom to sense with no interference to the simulated physiological conditions when providing quantified feedback to trainees, and to enable training following current bare-hand examination protocols without the need to wear data gloves to collect data.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Robotics

ISSN

1552-3098

Publisher

IEEE

Issue

4

Volume

37

Page range

1051-1064

Department affiliated with

  • Engineering and Design Publications

Notes

© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2020-11-30

First Open Access (FOA) Date

2021-01-11

First Compliant Deposit (FCD) Date

2020-11-27

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