This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local areas and outline the role of force control. In addition, we investigate whether the applied force depends on the nonhomogeneity of the soft tissue. Experimental results on manual palpation of soft silicone phantoms show that humans have a well defined force control pattern of probing that is used independently of the non-homogeneity of the soft tissue. We observed that the modulations of lateral forces are distributed around the mean frequency of 22.3 Hz. Furthermore, we found that the applied normal pressure during probing can be modeled using a second order reactive autoregressive model. These mathematical abstractions were implemented and validated for the autonomous palpation for different stiffness parameters using a robotic probe with a rigid spherical indentation tip. The results show that the autonomous robotic palpation strategy abstracted from human demonstrations is capable of not only detecting the embedded nodules, but also enhancing the stiffness perception compared to static indentation of the probe.


    Access

    Download


    Export, share and cite



    Title :

    Palpation force modulation strategies to identify hard regions in soft tissue organs



    Publication date :

    2017-02-15


    Remarks:

    Konstantinova , J , Cotugno , G , Dasgupta , P , Althoefer , K & Nanayakkara , T 2017 , ' Palpation force modulation strategies to identify hard regions in soft tissue organs ' , PL o S One , vol. 12 , no. 2 , e0171706 . https://doi.org/10.1371/journal.pone.0171706



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Development of a Robotic Palpation System and Evaluation of the Burden to an Operator in the Palpation

    Kitano, Taiga / Asari, Mina / Ishii, Chiharu | British Library Conference Proceedings | 2022


    An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training

    Liang He / Nicolas Herzig / Simon de Lusignan et al. | BASE | 2021

    Free access

    Micro-tribological properties of heat treated hard disk evaluated by force modulation method

    Saitoh, T. / Miyake, S. / Matsunuma, S. | British Library Online Contents | 2005


    Hard and Soft Verifications

    Wetherholt, Jon / Anderson, Brenda | NTRS | 2012


    Hard or soft rails

    Engineering Index Backfile | 1890