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Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe

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  • Nicolas Herzig
  • Liang He
  • Perla Maiolino
  • Sara-Adela Abad
  • Thrishantha Nanayakkara

Abstract

This paper provides a solution for fast haptic information gain during soft tissue palpation using a Variable Lever Mechanism (VLM) probe. More specifically, we investigate the impact of stiffness variation of the probe to condition likelihood functions of the kinesthetic force and tactile sensors measurements during a palpation task for two sweeping directions. Using knowledge obtained from past probing trials or Finite Element (FE) simulations, we implemented this likelihood conditioning in an autonomous palpation control strategy. Based on a recursive Bayesian inferencing framework, this new control strategy adapts the sweeping direction and the stiffness of the probe to detect abnormal stiff inclusions in soft tissues. This original control strategy for compliant palpation probes shows a sub-millimeter accuracy for the 3D localization of the nodules in a soft tissue phantom as well as a 100% reliability detecting the existence of nodules in a soft phantom.

Suggested Citation

  • Nicolas Herzig & Liang He & Perla Maiolino & Sara-Adela Abad & Thrishantha Nanayakkara, 2020. "Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe," PLOS ONE, Public Library of Science, vol. 15(8), pages 1-31, August.
    • Handle: RePEc:plo:pone00:0237379
    DOI: 10.1371/journal.pone.0237379
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    References listed on IDEAS

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    1. Nantachai Sornkarn & Prokar Dasgupta & Thrishantha Nanayakkara, 2016. "Morphological Computation of Haptic Perception of a Controllable Stiffness Probe," PLOS ONE, Public Library of Science, vol. 11(6), pages 1-21, June.
    2. Jelizaveta Konstantinova & Giuseppe Cotugno & Prokar Dasgupta & Kaspar Althoefer & Thrishantha Nanayakkara, 2017. "Palpation force modulation strategies to identify hard regions in soft tissue organs," PLOS ONE, Public Library of Science, vol. 12(2), pages 1-24, February.
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