Teletactile system based on mechanical properties estimation.

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Bibliographic Details
Title:	Teletactile system based on mechanical properties estimation.
Authors:	Fiorini, Paolo, Sette, Mauro M.¹, Van Brussel, Hendrik¹, Sloten, Jos Vander¹
Source:	Applied Bionics & Biomechanics. 2011, Vol. 8 Issue 2, p237-252. 16p.
Subjects:	Tissue mechanics, Kalman filtering, Estimation theory, Virtual reality, Surgical robots, Elasticity, Finite element method, Stiffness (Mechanics), Algorithms
Abstract:	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. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	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. [ABSTRACT FROM AUTHOR]
ISSN:	11762322