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A Variable Stiffness Robotic Probe for Soft Tissue Palpation

Accepted version
Peer-reviewed

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Type

Article

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Authors

Herzig, Nicolas 
Maiolino, Perla 
Nanayakkara, Thrishantha 

Abstract

During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue to maximize the haptic information gain via tendons. Our recent experiments using a controllable stiffness robotic probe representing a human finger also confirmed that such stiffness control in the finger can enhance the accuracy of detecting hard nodules in soft tissue. However, the limited range of stiffness achieved by the antagonistic springs variable stiffness joint subject to size constraints made it unsuitable for a wide range of physical examination scenarios spanning from breast to abdominal examination. In this letter, we present a new robotic probe based on a variable lever mechanism able to achieve stiffness ranging from 0.64 to 1.06 N·m/rad that extends the maximum stiffness by around 16 times and the stiffness range by 33 times. This letter presents the mechanical model of the novel probe, the finite element simulation as well as experimental characterization of the stiffness response for lever actuation.

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Keywords

Compliant joint/mechanism, force and tactile sensing, haptics and haptic interfaces, medical robots and systems, biomimetics

Journal Title

IEEE Robotics and Automation Letters

Conference Name

Journal ISSN

2377-3766
2377-3766

Volume Title

3

Publisher

IEEE
Sponsorship
Engineering and Physical Sciences Research Council (EP/N029003/1)
This work was supported by The United Kingdom Engineering and Physical Sciences Research Council under MOTION Grant EP/N03211X/2.