This paper presents new findings concerning a hand-held stiffness probe for the medical diagnosis of abnormalities during palpation of soft-tissue. Palpation is recognized by the medical community as an essential and low-cost method to detect and diagnose disease in soft-tissue. However, differences are often subtle and clinicians need to train for many years before they can conduct a reliable diagnosis. The probe presented here fills this gap providing a means to easily obtain stiffness values of soft tissue during a palpation procedure. Our stiffness sensor is equipped with a multi degree of freedom (DoF) Aurora magnetic tracker, allowing us to track and record the 3D position of the probe whilst examining a tissue area, and generate a 3D stiffness map in real-time. The stiffness probe was integrated in a robotic arm and tested in an artificial environment representing a good model of soft tissue organs; the results show that the sensor can accurately measure and map the stiffness of a silicon phantom embedded with areas of varying stiffness.


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    Titel :

    Real-Time Vision-Based Stiffness Mapping


    Beteiligte:
    Faragasso, A (Autor:in) / Bimbo, J (Autor:in) / Stilli, A (Autor:in) / Wurdemann, HA (Autor:in) / Althoefer, K (Autor:in) / Asama, H (Autor:in)

    Erscheinungsdatum :

    2018-05-01


    Anmerkungen:

    Physical Sensors , 18 (5) , Article 1347. (2018)


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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