HapticV1, PascalFrancis, Curation, bibRecord, 001237

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Identifieur interne : 001237 ( PascalFrancis/Curation ); précédent : 001236; suivant : 001238

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Auteurs : MIN LI [Royaume-Uni] ; Tommaso Ranzani [Italie] ; Sina Sareh [Royaume-Uni] ; Lakmal D. Seneviratne [Royaume-Uni, Émirats arabes unis] ; Prokar Dasgupta [Royaume-Uni] ; Helge A. Wurdemann [Royaume-Uni] ; Kaspar Althoefer [Royaume-Uni]

Source :

Smart materials and structures [ 0964-1726 ] ; 2014.

RBID : Pascal:14-0229530

Descripteurs français

Pascal (Inist)
- Rigidité, Actionneur, Robotique, Capteur, Indentation, Relation contrainte déformation, Commande, Palpation, Génie biomédical, Hystérésis mécanique, Boucle réaction, Interface haptique.
Wicri :
- topic : Robotique.

English descriptors

KwdEn :
- Actuators, Biomedical engineering, Control, Feedback, Haptic interfaces, Indentation, Mechanical hysteresis, Palpation, Robotics, Sensors, Stiffness, Stress-strain relations.

Abstract

This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.

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A11	`03`	`1`		`@1 SAREH (Sina)`
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A14	`03`			`@1 Medical Research Council (MRC) Centre for Transplantation, King's College London, King's Health Partners, Guy's Hospital @2 London SE1 9RT @3 GBR @Z 5 aut.`
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C01	`01`		`ENG`	@0 This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.
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C03	`03`	`X`	`SPA`	`@0 Robótica @5 04`
C03	`04`	`3`	`FRE`	`@0 Capteur @5 05`
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C03	`05`	`3`	`FRE`	`@0 Indentation @5 06`
C03	`05`	`3`	`ENG`	`@0 Indentation @5 06`
C03	`06`	`3`	`FRE`	`@0 Relation contrainte déformation @5 08`
C03	`06`	`3`	`ENG`	`@0 Stress-strain relations @5 08`
C03	`07`	`3`	`FRE`	`@0 Commande @5 09`
C03	`07`	`3`	`ENG`	`@0 Control @5 09`
C03	`08`	`X`	`FRE`	`@0 Palpation @5 11`
C03	`08`	`X`	`ENG`	`@0 Palpation @5 11`
C03	`08`	`X`	`SPA`	`@0 Palpación @5 11`
C03	`09`	`3`	`FRE`	`@0 Génie biomédical @5 12`
C03	`09`	`3`	`ENG`	`@0 Biomedical engineering @5 12`
C03	`10`	`X`	`FRE`	`@0 Hystérésis mécanique @5 13`
C03	`10`	`X`	`ENG`	`@0 Mechanical hysteresis @5 13`
C03	`10`	`X`	`SPA`	`@0 Histéresis mecánica @5 13`
C03	`11`	`3`	`FRE`	`@0 Boucle réaction @5 14`
C03	`11`	`3`	`ENG`	`@0 Feedback @5 14`
C03	`12`	`3`	`FRE`	`@0 Interface haptique @5 15`
C03	`12`	`3`	`ENG`	`@0 Haptic interfaces @5 15`
N21				`@1 279`

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Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.</div>
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<fC01 i1="01" l="ENG"><s0>This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.</s0>
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<fC03 i1="01" i2="X" l="ENG"><s0>Stiffness</s0>
<s5>02</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Rigidez</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="3" l="FRE"><s0>Actionneur</s0>
<s5>03</s5>
</fC03>
<fC03 i1="02" i2="3" l="ENG"><s0>Actuators</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Robotique</s0>
<s5>04</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Robotics</s0>
<s5>04</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Robótica</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="3" l="FRE"><s0>Capteur</s0>
<s5>05</s5>
</fC03>
<fC03 i1="04" i2="3" l="ENG"><s0>Sensors</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="3" l="FRE"><s0>Indentation</s0>
<s5>06</s5>
</fC03>
<fC03 i1="05" i2="3" l="ENG"><s0>Indentation</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="3" l="FRE"><s0>Relation contrainte déformation</s0>
<s5>08</s5>
</fC03>
<fC03 i1="06" i2="3" l="ENG"><s0>Stress-strain relations</s0>
<s5>08</s5>
</fC03>
<fC03 i1="07" i2="3" l="FRE"><s0>Commande</s0>
<s5>09</s5>
</fC03>
<fC03 i1="07" i2="3" l="ENG"><s0>Control</s0>
<s5>09</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Palpation</s0>
<s5>11</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Palpation</s0>
<s5>11</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Palpación</s0>
<s5>11</s5>
</fC03>
<fC03 i1="09" i2="3" l="FRE"><s0>Génie biomédical</s0>
<s5>12</s5>
</fC03>
<fC03 i1="09" i2="3" l="ENG"><s0>Biomedical engineering</s0>
<s5>12</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Hystérésis mécanique</s0>
<s5>13</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Mechanical hysteresis</s0>
<s5>13</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Histéresis mecánica</s0>
<s5>13</s5>
</fC03>
<fC03 i1="11" i2="3" l="FRE"><s0>Boucle réaction</s0>
<s5>14</s5>
</fC03>
<fC03 i1="11" i2="3" l="ENG"><s0>Feedback</s0>
<s5>14</s5>
</fC03>
<fC03 i1="12" i2="3" l="FRE"><s0>Interface haptique</s0>
<s5>15</s5>
</fC03>
<fC03 i1="12" i2="3" l="ENG"><s0>Haptic interfaces</s0>
<s5>15</s5>
</fC03>
<fN21><s1>279</s1>
</fN21>
</pA>
</standard>
</inist>
</record>

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   |texte=   Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators
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	Serveur d'exploration sur les dispositifs haptiques
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Serveur d'exploration sur les dispositifs haptiques

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

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