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Teletactile system based on mechanical properties estimation.

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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]
Copyright of Applied Bionics & Biomechanics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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  Data: <searchLink fieldCode="AR" term="%22Fiorini%2C+Paolo%22">Fiorini, Paolo</searchLink><br /><searchLink fieldCode="AR" term="%22Sette%2C+Mauro+M%2E%22">Sette, Mauro M.</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Van+Brussel%2C+Hendrik%22">Van Brussel, Hendrik</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Sloten%2C+Jos+Vander%22">Sloten, Jos Vander</searchLink><relatesTo>1</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22Applied+Bionics+%26+Biomechanics%22">Applied Bionics & Biomechanics</searchLink>. 2011, Vol. 8 Issue 2, p237-252. 16p.
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  Data: <searchLink fieldCode="DE" term="%22Tissue+mechanics%22">Tissue mechanics</searchLink><br /><searchLink fieldCode="DE" term="%22Kalman+filtering%22">Kalman filtering</searchLink><br /><searchLink fieldCode="DE" term="%22Estimation+theory%22">Estimation theory</searchLink><br /><searchLink fieldCode="DE" term="%22Virtual+reality%22">Virtual reality</searchLink><br /><searchLink fieldCode="DE" term="%22Surgical+robots%22">Surgical robots</searchLink><br /><searchLink fieldCode="DE" term="%22Elasticity%22">Elasticity</searchLink><br /><searchLink fieldCode="DE" term="%22Finite+element+method%22">Finite element method</searchLink><br /><searchLink fieldCode="DE" term="%22Stiffness+%28Mechanics%29%22">Stiffness (Mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Algorithms%22">Algorithms</searchLink>
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  Data: 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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  Data: <i>Copyright of Applied Bionics & Biomechanics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Text: English
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        PageCount: 16
        StartPage: 237
    Subjects:
      – SubjectFull: Tissue mechanics
        Type: general
      – SubjectFull: Kalman filtering
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      – SubjectFull: Estimation theory
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      – SubjectFull: Surgical robots
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      – SubjectFull: Elasticity
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      – SubjectFull: Finite element method
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      – SubjectFull: Stiffness (Mechanics)
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      – SubjectFull: Algorithms
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            NameFull: Van Brussel, Hendrik
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            NameFull: Sloten, Jos Vander
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              Text: 2011
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