A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue

Jichun  Li; Jelizaveta Zirjakova; Wei Yao; Kaspar Althoefer; Prokar Dasgupta; Lakmal Seneviratne

doi:10.1007/978-1-4471-4141-9_43

A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue

Jichun Li, Jelizaveta Zirjakova, Wei Yao, Kaspar Althoefer, Prokar Dasgupta, Lakmal Seneviratne

Biomedical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

1 Citation (Scopus)

Abstract

This paper presents a novel portable passive robotic platform for three-dimensional scanning (3DS) of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition. The platform comprises six degrees of freedom (DOF) passive robotic arm (Phantom Omni), a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours.

Original language	English
Title of host publication	Advances in reconfigurable mechanisms and robots I
Editors	Jian S Dai, Matteo Zoppi, Xianwen Kong
Place of Publication	Berlin
Publisher	Springer-Verlag
Pages	477-487
ISBN (Print)	9781447141402
DOIs	https://doi.org/10.1007/978-1-4471-4141-9_43
Publication status	Published - 9 Jul 2012
Event	2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012) - Tianjin, China Duration: 9 Jul 2012 → 11 Jul 2012

Conference

Conference	2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012)
Country/Territory	China
City	Tianjin
Period	9/07/12 → 11/07/12

Keywords

passive robotic platform
three-dimensional scanning
ex-vivo soft tissue
robotic platform
3D scanning
soft tissue

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10.1007/978-1-4471-4141-9_43

Cite this

@inproceedings{b1fb6d5253f14f4cb8ed516c1feb5969,

title = "A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue",

abstract = "This paper presents a novel portable passive robotic platform for three-dimensional scanning (3DS) of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition. The platform comprises six degrees of freedom (DOF) passive robotic arm (Phantom Omni), a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours.",

keywords = "passive robotic platform , three-dimensional scanning , ex-vivo soft tissue, robotic platform , 3D scanning , soft tissue ",

author = "Jichun Li and Jelizaveta Zirjakova and Wei Yao and Kaspar Althoefer and Prokar Dasgupta and Lakmal Seneviratne",

year = "2012",

month = jul,

day = "9",

doi = "10.1007/978-1-4471-4141-9_43",

language = "English",

isbn = "9781447141402",

pages = "477--487",

editor = "Dai, {Jian S } and Zoppi, {Matteo } and Kong, {Xianwen }",

booktitle = "Advances in reconfigurable mechanisms and robots I",

publisher = "Springer-Verlag",

note = "2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012) ; Conference date: 09-07-2012 Through 11-07-2012",

}

Li, J, Zirjakova, J, Yao, W, Althoefer, K, Dasgupta, P & Seneviratne, L 2012, A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue. in JS Dai, M Zoppi & X Kong (eds), Advances in reconfigurable mechanisms and robots I. Springer-Verlag, Berlin, pp. 477-487, 2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012), Tianjin, China, 9/07/12. https://doi.org/10.1007/978-1-4471-4141-9_43

A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue. / Li, Jichun ; Zirjakova, Jelizaveta; Yao, Wei et al.
Advances in reconfigurable mechanisms and robots I. ed. / Jian S Dai; Matteo Zoppi; Xianwen Kong. Berlin: Springer-Verlag, 2012. p. 477-487.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

TY - GEN

T1 - A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue

AU - Li, Jichun

AU - Zirjakova, Jelizaveta

AU - Yao, Wei

AU - Althoefer, Kaspar

AU - Dasgupta, Prokar

AU - Seneviratne, Lakmal

PY - 2012/7/9

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N2 - This paper presents a novel portable passive robotic platform for three-dimensional scanning (3DS) of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition. The platform comprises six degrees of freedom (DOF) passive robotic arm (Phantom Omni), a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours.

AB - This paper presents a novel portable passive robotic platform for three-dimensional scanning (3DS) of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition. The platform comprises six degrees of freedom (DOF) passive robotic arm (Phantom Omni), a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours.

KW - passive robotic platform

KW - three-dimensional scanning

KW - ex-vivo soft tissue

KW - robotic platform

KW - 3D scanning

KW - soft tissue

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DO - 10.1007/978-1-4471-4141-9_43

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A2 - Dai, Jian S

A2 - Zoppi, Matteo

A2 - Kong, Xianwen

PB - Springer-Verlag

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T2 - 2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012)

Y2 - 9 July 2012 through 11 July 2012

ER -

A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue

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Keywords

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