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

@inproceedings{He:2018:10.1109/EMBC.2018.8512709,
author = {He, L and Herzig, N and Lusignan, SD and Nanayakkara, D},
doi = {10.1109/EMBC.2018.8512709},
publisher = {IEEE},
title = {Granular jamming based controllable organ design for abdominal palpation},
url = {http://dx.doi.org/10.1109/EMBC.2018.8512709},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Medical manikins play an essential role in the training process of physicians. Currently, most available simulators for abdominal palpation training do not contain controllable organs for dynamic simulations. In this paper, we present a soft robotics controllable liver that can simulate various liver diseases and symptoms for effective and realistic palpation training. The tumors in the liver model are designed based on granular jamming with positive pressure, which converts the fluid-like impalpable particles to a solid-like tumor state by applying low positive pressure on the membrane. Through inflation, the tumor size, liver stiffness, and liver size can be controlled from normal liver state to various abnormalities including enlarged liver, cirrhotic liver, and multiple cancerous and malignant tumors. Mechanical tests have been conducted in the study to evaluate the liver design and the role of positive pressure granular jamming in tumor simulations.
AU  - He,L
AU  - Herzig,N
AU  - Lusignan,SD
AU  - Nanayakkara,D
DO  - 10.1109/EMBC.2018.8512709
PB  - IEEE
PY  - 2018///
TI  - Granular jamming based controllable organ design for abdominal palpation
UR  - http://dx.doi.org/10.1109/EMBC.2018.8512709
UR  - http://hdl.handle.net/10044/1/58744
ER  -
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