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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationAdvances in reconfigurable mechanisms and robots I
EditorsJian S Dai, Matteo Zoppi, Xianwen Kong
Place of PublicationBerlin
PublisherSpringer-Verlag
Pages477-487
ISBN (Print)9781447141402
DOIs
Publication statusPublished - 9 Jul 2012
Event2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012) - Tianjin, China
Duration: 9 Jul 201211 Jul 2012

Conference

Conference2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012)
CountryChina
CityTianjin
Period9/07/1211/07/12

Keywords

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

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