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




RCS1 M229Dyson BuildingSouth Kensington Campus






BibTex format

author = {Konstantinova, J and Li, M and Aminzadeh, V and Dasgupta, P and Althoefer, K and Nanayakkara, T},
doi = {10.1109/IROS.2013.6696622},
pages = {1998--2003},
title = {Force-velocity modulation strategies for soft tissue examination},
url = {},
year = {2013}

RIS format (EndNote, RefMan)

AB - Advanced tactile tools in minimally invasive surgery have become a pressing need in order to reduce time and improve accuracy in localizing potential tissue abnormalities. In this regard, one of the main challenges is to be able to estimate tissue parameters in real time. In palpation, tactile information felt at a given location is identified by the viscoelastic dynamics of the neighboring tissue. Due to this reason the tissue examination behavior and the distribution of viscoelastic parameters in tissue should be considered in conjunction. This paper investigates the salient features of palpation behavior on soft tissue determining the effectiveness of localizing hard nodules. Experimental studies involving human participants, and validation tests using finite element simulations and a tele-manipulator, were carried out. Two distinctive tissue examination strategies in force-velocity modulation for the given properties of target tissue were found. Experimental results suggest that force-velocity modulations during continuous path measurements are playing an important role in the process of mechanical soft tissue examination. These behavioral insights, validated by detailed numerical models and robotic experimentations shed light on future designs of optimal robotic palpation. © 2013 IEEE.
AU - Konstantinova,J
AU - Li,M
AU - Aminzadeh,V
AU - Dasgupta,P
AU - Althoefer,K
AU - Nanayakkara,T
DO - 10.1109/IROS.2013.6696622
EP - 2003
PY - 2013///
SN - 2153-0858
SP - 1998
TI - Force-velocity modulation strategies for soft tissue examination
UR -
ER -