Evaluating Manual Palpation Trajectory Patterns in Tele-manipulation for Soft Tissue Examination

• Published in: 2013 IEEE International Conference on Systems, Man, and Cybernetics pp. 4190 - 4195
• Main Authors: Konstantinova, Jelizaveta, Min Li, Aminzadeh, Vahid, Althoefer, Kaspar, Nanayakkara, Thrishantha, Dasgupta, Prokar
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2013
• Subjects: Biological tissues; Force; Haptic interfaces; Manuals; Medical Robotics; Minimally Invasive Surgery; Palpation; Phantoms; Soft Tissue; Surgery; Tele-manipulation; Trajectory

Robot-assisted minimal invasive surgery made it possible to improve the quality of surgical procedures and to enhance clinical outcomes. However, the need to palpate soft tissue organs with the aim to localize potential sites of abnormalities in real time has been recognized. For this work, ten subj...