Concept Development of Fixed Geometry Tactile Display using Granular Jamming

Sikander, Sakura; Biswas, Pradipta; Kulkarni, Pankaj; Harrington, Christopher F.; Chang, Neil; Song, Sang-Eun

doi:10.1109/ismr.2019.8710198

Cited by 4 publications

(4 citation statements)

References 17 publications

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“…Thus, the authors suggest two directions to develop training phantoms based on a configurable physical interface. First, researchers can explore tunable stiffness and configurable mechanisms in the field of soft robotics to create an entire soft-actuated phantom such as the 3D displays proposed by [126] and [84]. The second approach is to create a hybrid interface, where serial or parallel robots are introduced as the skeleton of the phantom to create large structural deformation while external layers of the configurable physical interface are used to simulate detailed physiological features.…”

Section: A Configurable Physical Interfacementioning

confidence: 99%

Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback

Maiolino

Leong

et al. 2023

IEEE Rev. Biomed. Eng.

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Tissue examination by hand remains an essential technique in clinical practice. The effective application depends on skills in sensorimotor coordination, mainly involving haptic, visual, and auditory feedback. The skills clinicians have to learn can be as subtle as regulating finger pressure with breathing, choosing palpation action, monitoring involuntary facial and vocal expressions in response to palpation, and using pain expressions both as a source of information and as a constraint on physical examination. Patient simulators can provide a safe learning platform to novice physicians before trying real patients. This paper reviews state-of-the-art medical simulators for the training for the first time with a consideration of providing multimodal feedback to learn as many manual examination techniques as possible. The study summarizes current advances in tissue examination training devices simulating different medical conditions and providing different types of feedback modalities. Opportunities with the development of pain expression, tissue modeling, actuation, and sensing are also analyzed to support the future design of effective tissue examination simulators.

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Section: A Configurable Physical Interfacementioning

confidence: 99%

Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback

Maiolino

Leong

et al. 2023

IEEE Rev. Biomed. Eng.

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“…It allowed for the thinner bottom portion of the nodule to deform under vacuum pressure. The detailed working principle and mechanism of the nodule was introduced in our previous study [30,31]. Under vacuum pressure, all the force components inside act towards the center.…”

Section: Experimental Nodule Prototypes Designmentioning

confidence: 99%

“…To further investigate in this way and to enhance the early diagnosis procedure, we introduced a concept and designed a simplified and compact palpation device that would facilitate a physician with the physical experience of variable stiffness level of a lump so that they can differentiate among a cyst, possibly malignant; premalignant tumor; and benign tumor through utilizing the device [30][31][32]. By further development, the device will have the facility to be connected through remote network to acquire the lump information from a patient's body and recreate/simulate the lump in the device at the physician's end.…”

Section: Introductionmentioning

confidence: 99%

“…In our previous publications, we introduced our concept and overall design of the palpation display containing a nodule capable of varying levels of stiffness and at the same time maintaining its shape, structural analysis, and quick prototyping of the designed nodule for a preliminary feasibility study [30,31]. This paper explains our nodule manufacturing approach, extends the feasibility study further and explores several iterations of the nodule prototype for the palpation display, experimentally evaluates mechanical characteristics (i.e., stiffness, deformation) in testing several prototypes, and discusses future work on the basis of the experimental results.…”

Section: Introductionmentioning

confidence: 99%

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Feasibility Study and Experimental Evaluation of the Design of Nodule Prototype Developed for Palpation Display Apparatus: A Novel Device for Contactless Primary Tactile Diagnosis

2021

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Background: Lack of feasible palpation display for primary diagnosis of a tumor without any need of physician to patient physical contact has been reported as one of the major concerns. To further explore this area, we developed a novel palpation device consisting of a uniquely designed nodule mechanism (based on optimizing nodule top and bottom hemisphere wall thickness and manipulating granular jamming method) that can vary stiffness while maintaining the shape of the same nodule display, for which current devices are not capable of in terms of aping a tumor. Methods: This paper evaluates the manufacturing approach of the nodule, exploring several iterations of the nodule prototype. Experiments were performed on nodule prototypes of varying wall thicknesses in order to evaluate its effect on stiffness and deformation. Results and Conclusions: Experimental results showed that nodule top and bottom wall thickness had a significant effect on the stiffness and deformation of the nodule. The higher the thickness of the top hemisphere and the lower the thickness of the bottom hemisphere, the greater the stiffness the nodule can achieve. Similarly, the display shape of the nodule can be maintained with minimal or no deformation if the nodule top hemisphere thickness is optimally higher than bottom hemisphere thickness.

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