Faragasso, A;
Bimbo, J;
Stilli, A;
Wurdemann, HA;
Althoefer, K;
Asama, H;
(2018)
Real-Time Vision-Based Stiffness Mapping.
Physical Sensors
, 18
(5)
, Article 1347. 10.3390/s18051347.
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Abstract
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.
| Type: | Article |
|---|---|
| Title: | Real-Time Vision-Based Stiffness Mapping |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.3390/s18051347 |
| Publisher version: | https://doi.org/10.3390/s18051347 |
| Language: | English |
| Additional information: | Copyright © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
| Keywords: | Stiffness sensor, soft tissue characterization, hand-held probe, medical examination, palpation |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10047258 |
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