Palpation of the skin with a robot finger: an attempt to measure skin stiffness with a probe loaded with a newly developed tactile vibration sensor and displacement sensor

Sasai, Shu; Zhen, Yaxian; Suetake, Takaki; Tanita, Yasuo; Omata, Sadao; Tagami, Hachiro

doi:10.1111/j.1600-0846.1999.tb00136.x

Cited by 20 publications

(15 citation statements)

References 37 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The frequency shift observed when a resonance sensor comes into contact with tissue can be correlated to the stiffness of the tissue. This has been shown in previous studies and indicates the potential for several biomedical applications [2,3,4,5]. For example, studies on prostate tissue show the possibility to differentiate between benign and malignant prostate tissue [6].…”

Section: Introductionsupporting

confidence: 68%

Stiffness measurements on spherical surfaces of prostate models, using a resonance sensor

et al. 2013

View full text Add to dashboard Cite

Stiffness measurements on spherical surfaces of prostate models using a resonance sensor.In: Mian Long (ed.), World Congress on Medical Physics and Biomedical Engineering May 26-31, 2012, Beijing, China (pp. 1401-1404 Abstract -Prostate cancer is one of the most common forms of cancer among men in Europe and the United States. Piezoelectric resonance sensors can be used in medical research for measurements of stiffness of human tissue. Cancer tissue is usually stiffer and has different biomechanical properties compared to healthy tissue. The frequency shift observed when a piezoelectric resonance sensor comes into contact with a tissue surface has been suggested to correlate with the stiffness variations, e.g. due to cancer. An instrument has been developed, with which it is possible to scan flat and spherical objects and where the sensor can be tilted for different contact angles. Measurements performed in this study on spherical tissue models made of silicone, showed the importance of keeping the contact angle perpendicular to the surface of the sphere. The results are promising for future studies on prostate tissue to complete the evaluation of the instrument.

show abstract

Section: Introductionsupporting

confidence: 68%

Stiffness measurements on spherical surfaces of prostate models, using a resonance sensor

et al. 2013

View full text Add to dashboard Cite

show abstract

“…We used a Venustron tactile sensor (Axiom Inc., Fukushima, Japan), an improved version of the tactile sensor developed by Omata (13). With this improved tactile sensor, the depth and pressure exerted by the sensor as well as Df of the skin can be determined at certain intervals while the sensor is pressed and released from the skin at a constant rate.…”

Section: Tactile Sensormentioning

confidence: 99%

“…However, a simple, non-invasive method to evaluate the physical properties of the SC has not been established yet. The tactile sensor used in the present study is a device that has been developed for evaluating the stiffness of objects (12,13) . This device determines changes in the resonant frequency (Df ) that occur when a vibrating probe comes into contact with an object.…”

mentioning

confidence: 99%

“…On the other hand, Lindahl et al reported that Df indicated decreased elasticity of the skin with aging (12), suggesting that Df reflects the physical properties of the entire skin, including the dermis. Sasai et al (13) recently reported that changes in Df were independent of the conductance of the SC after topical use of some moisturizers and in hypertrophic scars. Therefore, a rigorous and much more analytical investigation of the functional characteristics of the sensor in evaluating the physical properties of skin is needed.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Characterization of the physical properties of the stratum corneum by a new tactile sensor

Sakai

Sasai

Endo

et al. 2000

Skin Research and Technology

Self Cite

View full text Add to dashboard Cite

BACKGROUND/AIMS: The physical properties of the stratum corneum (SC) change with its water content, which is regulated by the presence of water solutes (natural moisturizing factors) and lipids in the SC, and are considered to be responsible for the induction of desquamation, skin surface roughness, and fine wrinkles. Recently a new type of tactile sensor developed for evaluating the physical properties of objects has been introduced as a simple, non-invasive method to evaluate them; because the data obtained with this sensor have not yet been characterized in detail, we compared them with other physical parameters of the skin. METHODS: A change in resonant frequency (Deltaf ) was measured under various levels of pressure applied by a tactile sensor placed on the cheeks of 29 women. We also measured high-frequency conductance that reflects the hydration state of the skin surface, water holding capacity of the SC, transepidermal water loss (TEWL), skin flexibility, skin elasticity, amino acid composition of the SC, and desquamation index of the SC at the same time, and evaluated the correlation between Deltaf and other physical parameters. RESULTS: The correlation between Deltaf and high-frequency conductance of the SC, and that between Deltaf and the water holding capacity of the SC were substantially high. Deltaf under high pressure was more closely correlated with the acidic amino acid ratio of the SC. Deltaf also showed a correlation with desquamation index for thickness of the SC as well as with skin elasticity, independent of the applied pressure. CONCLUSIONS: Because Deltaf determined with the tactile sensor correlated with other physical parameters specific to the properties of the SC, such as high frequency conductance of the SC, its water holding capacity, ratio of acidic amino acids, and the desquamation index for thickness, the physical properties of the SC may be adequately evaluated with the measurements of Deltaf.

show abstract

“…Jalkanen et al [3,5] presented studies on prostate tissue in vitro, which demonstrates the possibility to differentiate between healthy tissue and malignant tumours using piezoelectric resonance sensors. In other studies, piezoelectric resonance sensors have been used to measure the differences in stiffness and elasticity of the skin in order to detect oedema and lesions [6,7] or to detect lymph nodes containing metastases [8]. Resonance sensors have also been used to measure the stiffness of the liver to indicate liver fibrosis [9].…”

Section: Introductionmentioning

confidence: 99%

Contact angle and indentation velocity dependency for a resonance sensor—Evaluation on soft tissue silicone models

Åstrand¹,

Jalkanen²,

Andersson³

et al. 2013

Journal of Medical Engineering & Technology

View full text Add to dashboard Cite

Human tissue stiffness can vary due to different tissue conditions such as cancer tumours. Earlier studies show that stiffness may be detected with a resonance sensor that measures frequency shift and contact force at application. Through the frequency shift and the contact force, a tissue stiffness parameter can be derived. This study evaluated how the probe application angle and indentation velocity affected the results and determined the maximum parameter errors. The evaluation was made on flat silicone discs with specified hardness. The frequency shift, the force and the stiffness parameter all varied with contact angle and indentation velocity. A contact angle of ≤10° was acceptable for reliable measurements. A low indentation velocity was recommended. The maximum errors for the system were <1.1% of the measured values. It was concluded that contact angle and indentation velocity have to be considered in the clinical setting. The angular dependency is especially important in clinical use for studying stiffness of human soft tissue, e.g. in prostate cancer diagnosis.

show abstract

Palpation of the skin with a robot finger: an attempt to measure skin stiffness with a probe loaded with a newly developed tactile vibration sensor and displacement sensor

Cited by 20 publications

References 37 publications

Stiffness measurements on spherical surfaces of prostate models, using a resonance sensor

Stiffness measurements on spherical surfaces of prostate models, using a resonance sensor

Characterization of the physical properties of the stratum corneum by a new tactile sensor

Contact angle and indentation velocity dependency for a resonance sensor—Evaluation on soft tissue silicone models

Contact Info

Product

Resources

About