Palpation force modulation strategies to identify hard regions in soft tissue organs.
Palpation force modulation strategies to identify hard regions in soft tissue organs.
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DOI：
10.1371/journal.pone.0171706
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发表时间：
2017
期刊：
影响因子：
3.7
通讯作者：
Nanayakkara T
中科院分区：
文献类型：
--
作者：
Konstantinova J;Cotugno G;Dasgupta P;Althoefer K;Nanayakkara T
本文提出了一套独特的力调制策略，在手动软组织触诊定位硬异常，如肿瘤存在的实验证据。我们探讨了定义的局部区域的主动探测策略，并概述了力控制的作用。此外，我们调查所施加的力是否取决于软组织的非均匀性。人工触诊软硅胶假体的实验结果表明，人类有一个明确的力控制模式的探测，使用独立的非均匀性的软组织。我们观察到横向力的调制分布在平均频率22.3 Hz附近。此外，我们发现，在探测过程中施加的正常压力可以使用二阶反应自回归模型建模。这些数学抽象的实现和验证的自主触诊不同的刚度参数，使用一个刚性的球形压痕尖端的机器人探头。结果表明，自主机器人触诊策略抽象的人类示范是能够不仅检测到嵌入的结节，但也提高了刚度感知相比，静态压痕的探头。
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 non-homogeneity 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.