Design of a novel multi-modal tactile display device for biomedical applications

Mansour, Nader A.; El-Bab, Ahmed M. R. Fath; Abdellatif, Mohamed

doi:10.1109/biorob.2012.6290860

Cited by 9 publications

(3 citation statements)

References 11 publications

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“… measured the elastic modulus of a human liver, and found that elastic modulus for a healthy liver is about 270 kPa and for a diseased one about 740 kPa. Other researchers have designed a tactile sensor/display for detecting/displaying modulus of elasticity up to 1000 kPa . Accordingly Young's modulus range is selected up to 1000 kPa for the current study.…”

Section: Sensor Designmentioning

confidence: 99%

Design and modeling of micro tactile sensor with three contact tips for self‐compensation of contact error in soft tissue elasticity measurement

Nasr

El-Bab

Abouelsoud

2015

IEEJ Transactions Elec Engng

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The capability to localize diseased regions in soft tissues is essential in laparoscopic surgeries. Accordingly, surgeons need to use tactile feedback systems in order to evaluate tissue health. The purpose of this paper is to identify tissue stiffness using a new tactile sensor, whose output does not depend on the applied pushing distance or the contact angle between the sensor and the target tissue. A modification on the concept of using two linear springs with different stiffness is executed, where the current sensor design is based on using three linear springs. A detailed design procedure is carried out in order to achieve high linearity and sensitivity. The sensor measuring range is selected according to different soft-tissue properties. In order to verify the performance of the new design, a finite element model is constructed using the ANSYS software. The results illustrate that the presented sensor can distinguish between different tissues based on their modulus of elasticity, within the specified design range. Moreover, the sensor output is independent of the applied pushing distance and the contact angle, in the range of ±8 • , with a maximum error of ±4%. Furthermore, a linear I/O relationship was successfully achieved, which was the aim when considering nonlinearity analysis.

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Section: Sensor Designmentioning

confidence: 99%

Design and modeling of micro tactile sensor with three contact tips for self‐compensation of contact error in soft tissue elasticity measurement

Nasr

El-Bab

Abouelsoud

2015

IEEJ Transactions Elec Engng

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“…Although the original intention of this tactile feedback device is to improve the accuracy and precision of touch typing, it also has the potential to be modified and applied in tumour localisation. Mansour et al 62 presented a device that can display both the stiffness distribution and surface shape of an object. It consists of an elongation spring (ES) for displaying shape and a stiffness spring (SS) for displaying stiffness.…”

Section: Palpation Using Tactile Feedback Devicesmentioning

confidence: 99%

Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review

Liu

Jiang

et al. 2014

Proc Inst Mech Eng H

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Robot-assisted minimally invasive surgery has many advantages compared to conventional open surgery and also certain drawbacks: it causes less operative trauma and faster recovery times but does not allow for direct tumour palpation as is the case in open surgery. This article reviews state-of-the-art intra-operative tumour localisation methods used in robot-assisted minimally invasive surgery and in particular methods that employ force-based sensing, tactile-based sensing, and medical imaging techniques. The limitations and challenges of these methods are discussed and future research directions are proposed.

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“…There are tactile displays that use multiple servomotors to actuate a pin array directly [19], [20], [21], to drive a pin array through a flexible tendon and conduit [22], and to control a planar platform [23]. In addition, there are several other principles employed in tactile displays such as the use of shape memory alloys [24], [25], magnetorheological fluid [26], [27], [28], and microhydraulic actuators [29]. These tactile displays aim to supply rich tactile information such as spatially distributed pressure, stiffness, and multiple degrees of freedom of deformation.…”

Section: Introductionmentioning

confidence: 99%

A Pneumatic Tactile Ring for Instantaneous Sensory Feedback in Laparoscopic Tumor Localization

Fukuda

Tanaka

Kappers

et al. 2018

IEEE Trans. Haptics

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We aim to achieve intraoperative localization of an early-stage gastric tumor that cannot be visually detected during laparoscopic surgery. In this study, we developed and evaluated a pneumatic tactile ring, which is a clinically applicable tactile device to provide instantaneous feedback from a tactile sensor directly manipulated by a surgeon. It was designed to be worn on the finger of the manipulating hand and to present pressure to the finger pad. It is lightweight, cost-effective, disposable, and sterilizable. We also developed a compact pneumatic drive unit to control the pressure and investigated its fundamental performance. The bandwidth of the pressure control was at least 1.3 Hz with a controllable range of up to 79.7 kPa. Moreover, a psychophysical experiment was performed to obtain the Weber ratio of the pressure and evaluate the effectiveness of the instantaneous tactile feedback of the sensor output through the tactile ring. The Weber ratio was 0.40 at the reference pressure of 22.7 kPa. The provided tactile feedback significantly reduced the absolute localization error and increased participants' confidence in their answers. It was shown that the tactile feedback through the ring is effective in laparoscopic tumor localization.

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Design of a novel multi-modal tactile display device for biomedical applications

Cited by 9 publications

References 11 publications

Design and modeling of micro tactile sensor with three contact tips for self‐compensation of contact error in soft tissue elasticity measurement

Design and modeling of micro tactile sensor with three contact tips for self‐compensation of contact error in soft tissue elasticity measurement

Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review

A Pneumatic Tactile Ring for Instantaneous Sensory Feedback in Laparoscopic Tumor Localization

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