Surgical RoboticsView this Special Issue
Mauro M. Sette, Hendrik Van Brussel, Jos Vander Sloten, "Teletactile System Based on Mechanical Properties Estimation", Applied Bionics and Biomechanics, vol. 8, Article ID 928076, 16 pages, 2011. https://doi.org/10.3233/ABB-2011-0023
Teletactile System Based on Mechanical Properties Estimation
Tactile feedback is a major missing feature in minimally invasive procedures; it is an essential means of diagnosis and orientation during surgical procedures. Previous works have presented a remote palpation feedback system based on the coupling between a pressure sensor and a general haptic interface. Here a new approach is presented based on the direct estimation of the tissue mechanical properties and finally their presentation to the operator by means of a haptic interface. The approach presents different technical difficulties and some solutions are proposed: the implementation of a fast Young’s modulus estimation algorithm, the implementation of a real time finite element model, and finally the implementation of a stiffness estimation approach in order to guarantee the system’s stability. The work is concluded with an experimental evaluation of the whole system.
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