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{He:2021:10.1109/TRO.2020.3043717,
author = {He, L and Herzig, N and Lusignan, SD and Scimeca, L and Maiolino, P and Iida, F and Nanayakkara, T},
doi = {10.1109/TRO.2020.3043717},
journal = {IEEE Transactions on Robotics},
pages = {1051--1064},
title = {An Abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training},
url = {http://dx.doi.org/10.1109/TRO.2020.3043717},
volume = {37},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Robotic phantoms enable advanced physical examination training before using human patients. In this article, we present an abdominal phantom for palpation training with controllable stiffness liver nodules that can also sense palpation forces. The coupled sensing and actuation approach is achieved by pneumatic control of positive-granular jammed nodules for tunable stiffness. Soft sensing is done using the variation of internal pressure of the nodules under external forces. This article makes original contributions to extend the linear region of the neo-Hookean characteristic of the mechanical behavior of the nodules by 140% compared to no-jamming conditions and to propose a method using the organ level controllable nodules as sensors to estimate palpation position and force with a root-mean-square error of 4% and 6.5%, respectively. Compared to conventional soft sensors, the method allows the phantom to sense with no interference to the simulated physiological conditions when providing quantified feedback to trainees, and to enable training following current bare-hand examination protocols without the need to wear data gloves to collect data.
AU  - He,L
AU  - Herzig,N
AU  - Lusignan,SD
AU  - Scimeca,L
AU  - Maiolino,P
AU  - Iida,F
AU  - Nanayakkara,T
DO  - 10.1109/TRO.2020.3043717
EP  - 1064
PY  - 2021///
SN  - 1552-3098
SP  - 1051
TI  - An Abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training
T2  - IEEE Transactions on Robotics
UR  - http://dx.doi.org/10.1109/TRO.2020.3043717
UR  - https://ieeexplore.ieee.org/document/9310688
UR  - http://hdl.handle.net/10044/1/85974
VL  - 37
ER  -
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