Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics



+44 (0)20 7594 0965t.nanayakkara Website CV




Dyson BuildingSouth Kensington Campus






BibTex format

doi = {10.1109/BIOROB.2016.7523646},
pages = {323--328},
title = {Autonomous robotic palpation of soft tissue using the modulation of applied force},
url = {},
year = {2016}

RIS format (EndNote, RefMan)

AB - © 2016 IEEE. Palpation or perception of tactile information from soft tissue organs during minimally invasive surgery is required to improve clinical outcomes. One of the methods of palpation includes examination using the modulation of applied force on the localized area. This paper presents a method of soft tissue autonomous palpation based on the mathematical model obtained from human tactile examination data using modulations of palpation force. Using a second order reactive auto-regressive model of applied force, a robotic probe with spherical indenter was controlled to examine silicone tissue phantoms containing artificial nodules. The results show that the autonomous palpation using the model abstracted from human demonstration can be used not only to detect embedded nodules, but also to enhance the stiffness perception compared to the static indentation of the probe.
DO - 10.1109/BIOROB.2016.7523646
EP - 328
PY - 2016///
SN - 2155-1774
SP - 323
TI - Autonomous robotic palpation of soft tissue using the modulation of applied force
UR -
UR -
ER -