An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training
An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training
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DOI：
10.1109/tro.2020.3043717
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发表时间：
2021-08-01
影响因子：
7.8
通讯作者：
Nanayakkara, Thrishantha
中科院分区：
文献类型：
--
作者：
He, Liang;Herzig, Nicolas;Nanayakkara, Thrishantha
在使用人类患者之前，机器人幻影可以进行高级体检培训。在这篇文章中，我们提出了一个腹部幻影触诊训练与可控刚度肝结节，也可以感觉到触诊的力量。耦合的传感和驱动方法是通过气动控制的积极颗粒堵塞结节可调刚度。软测量是利用在外力作用下结节内部压力的变化来完成的。本文作出了原创性的贡献，扩展了140%相比，无干扰条件下的结节的机械行为的新胡克特征的线性区域，并提出了一种方法，使用器官水平的可控结节作为传感器来估计触诊位置和力的均方根误差分别为4%和6.5%。与传统的软传感器相比，该方法允许体模在向受训者提供量化反馈时感测而不干扰模拟的生理条件，并且使得能够按照当前的徒手检查协议进行训练而不需要戴数据手套来收集数据。
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 original contributions to extend the linear region of the neo-Hookean characteristic of the mechanical behavior of the nodules by 140% compared to no-jamming conditions and to propose a method using the organ level controllable nodules as sensors to estimate palpation position and force with a root-mean-square error of 4% and 6.5%, respectively. Compared to conventional soft sensors, the method allows the phantom to sense with no interference to the simulated physiological conditions when providing quantified feedback to trainees, and to enable training following current bare-hand examination protocols without the need to wear data gloves to collect data.