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An abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training
journal contribution
posted on 2023-06-09, 22:17 authored by Liang He, Nicolas HerzigNicolas Herzig, Simon De Lusignan, Luca Scimeca, Perla Maiolino, Fumiya Iida, Thrishantha NanayakkaraRobotic 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 RoboticsISSN
1552-3098Publisher
IEEEExternal DOI
Issue
4Volume
37Page range
1051-1064Department 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
2020-11-30First Open Access (FOA) Date
2021-01-11First Compliant Deposit (FCD) Date
2020-11-27Usage metrics
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