Imperial College London
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Professor Thrishantha Nanayakkara

Faculty of Engineering, Dyson School of Design Engineering

Professor in Robotics
 
 
 
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Contact

 

+44 (0)7902 396 681t.nanayakkara Website CV

 
 
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Location

 

RCS 1M07Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Nanayakkara:2017:10.1371/journal.pone.0171706,
author = {Nanayakkara, DPT and Konstantinova, J and Cotugno, G and Dasgupta, P and Althoefer, K},
doi = {10.1371/journal.pone.0171706},
journal = {PLOS One},
title = {Palpation force modulation strategies to identify hard regions in soft tissue organs},
url = {http://dx.doi.org/10.1371/journal.pone.0171706},
volume = {12},
year = {2017}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local areas and outline the role of force control. In addition, we investigate whether the applied force depends on the non-homogeneity of the soft tissue. Experimental results on manual palpation of soft silicone phantoms show that humans have a well defined force control pattern of probing that is used independently of the non-homogeneity of the soft tissue. We observed that the modulations of lateral forces are distributed around the mean frequency of 22.3 Hz. Furthermore, we found that the applied normal pressure during probing can be modeled using a second order reactive autoregressive model. These mathematical abstractions were implemented and validated for the autonomous palpation for different stiffness parameters using a robotic probe with a rigid spherical indentation tip. The results show that the autonomous robotic palpation strategy abstracted from human demonstrations is capable of not only detecting the embedded nodules, but also enhancing the stiffness perception compared to static indentation of the probe.
AU  - Nanayakkara,DPT
AU  - Konstantinova,J
AU  - Cotugno,G
AU  - Dasgupta,P
AU  - Althoefer,K
DO  - 10.1371/journal.pone.0171706
PY  - 2017///
SN  - 1932-6203
TI  - Palpation force modulation strategies to identify hard regions in soft tissue organs
T2  - PLOS One
UR  - http://dx.doi.org/10.1371/journal.pone.0171706
UR  - http://hdl.handle.net/10044/1/45732
VL  - 12
ER  -
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