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A cable driven robotic palpation system with contact force sensing based on cable tension observation
Chikweto Francis1, Taiga Sato1, Takeshi Okuyama2
1Department of Biomedical Engineering, Graduate School of Biomedical Engineering, Tohoku University, Sendai, Japan.
Summary
This study introduces a robotic palpation system for objective prostate cancer screening. The system accurately estimates contact force and probe position, showing potential for improved stiffness assessment.
Area of Science:
- Robotics
- Biomedical Engineering
- Medical Devices
Background:
- Prostate cancer screening via manual palpation is subjective.
- Robotic palpation offers objective stiffness assessment of the prostate.
Purpose of the Study:
- To develop and validate a robotic palpation system for objective prostate stiffness assessment.
- To introduce an indirect method for contact force estimation using cable tension.
Main Methods:
- A 2 Degrees of Freedom (2DoF) cable-driven robotic system was designed for prostate palpation.
- Kinematic models and joint angle estimation determined probe tip position.
- Contact force estimation was validated using silicone phantoms.
Main Results:
- High consistency observed between estimated and measured contact forces.
- Contact force correlated with the elastic modulus of phantom materials.
- Accurate probe tip positioning was confirmed through experimental validation.
Conclusions:
- The indirect contact force estimation method is viable for robotic prostate palpation.
- The system demonstrates potential for objective prostate stiffness assessment.
- Accurate tip position determination is achievable via estimated joint angles.
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