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An abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training

Abstract:

Robotic phantoms enable advanced physical examination training before using human patients. In this article, we present an abdominal phantom for palpation training with controllable stiffness liver nodules that can also sense palpation forces. The coupled sensing and actuation approach is achieved by pneumatic control of positive-granular jammed nodules for tunable stiffness. Soft sensing is done using the variation of internal pressure of the nodules under external forces. This article makes...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/tro.2020.3043717

Authors


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Institution:
University of Oxford
Division:
MSD
Department:
Primary Care Health Sciences
Role:
Author
ORCID:
0000-0002-8553-2641
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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
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Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Journal:
IEEE Transactions on Robotics Journal website
Volume:
37
Issue:
4
Pages:
1051-1064
Publication date:
2020-12-29
Acceptance date:
2020-11-24
DOI:
EISSN:
1941-0468
ISSN:
1552-3098
Language:
English
Keywords:
Pubs id:
1156957
Local pid:
pubs:1156957
Deposit date:
2021-01-18

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