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

He, Liang, Herzig, Nicolas, De Lusignan, Simon, Scimeca, Luca, Maiolino, Perla, Iida, Fumiya and Nanayakkara, Thrishantha (2021) An abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training. IEEE Transactions on Robotics, 37 (4). pp. 1051-1064. ISSN 1552-3098

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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.

Item Type: Article
Additional Information: © 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.
Keywords: Soft organ simulation, Tunable stiffness, Soft sensing, Abdominal palpation, Robotic training phantom
Schools and Departments: School of Engineering and Informatics > Engineering and Design
SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 30 Nov 2020 08:12
Last Modified: 11 Feb 2022 15:30

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