Tactile mapping of palpable abnormalities for breast cancer diagnosis
Tactile mapping of palpable abnormalities for breast cancer diagnosis
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用于乳腺癌诊断的可触及异常的触觉测绘
DOI：
10.1109/robot.1999.772541
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
M. Freedman
中科院分区：
文献类型：
--
作者：
Y. Wang;C. Nguyen;R. Srikanchana;Z. Geng;M. Freedman
本文介绍了一种由触觉传感器阵列探头、3D摄像机和力/力矩传感器组成的原型触觉标测装置(TMD)系统的研制，该系统可以提供在乳房触诊过程中产生乳房肿块的触觉标测图的手段。这些图聚焦于乳房触诊的关键触觉拓扑特征，如检测到的病变的空间位置、大小和形状，以及用于显示可触及的异常的力水平，这些图可以记录临床乳房检查的结果，以及一组由于检测到的病变而产生的压力分布和力传感器测量。这些地图将作为可触及病变的客观记录，用于未来的比较检查。TMD原型的模拟实验和有限的临床前评估的初步结果初步验证了我们的假设，并提供了坚实而有希望的数据，表明TMD在实际临床应用中的可行性。
This paper presents the development of a prototype tactile mapping device (TMD) system comprised mainly of a tactile sensor array probe, a 3D camera and a force/torque sensor, which can provide the means to produce tactile maps of the breast lumps during a breast palpation. Focusing on the key tactile topology features from breast palpation such as spatial location, size and shape of the detected lesion, and the force levels used to demonstrate the palpable abnormalities, these maps can record the results of clinical breast examination with a set of pressure distribution profiles and force sensor measurements due to detected lesion. These maps will serve as an objective documentation of palpable lesions for future comparative examinations. Preliminary results of simulated experiments and limited pre-clinical evaluations of the TMD prototype have pilot-tested our hypothesis and provided solid promising data showing the feasibility of the TMD in real clinical applications.