A Variable Stiffness Robotic Probe for Soft Tissue Palpation

被引：41

作者：

Herzig, Nicolas ^{[1
]}

Maiolino, Perla ^{[2
]}

Iida, Fumiya ^{[2
]}

Nanayakkara, Thrishantha ^{[1
]}

机构：

[1] Imperial Coll London, Dyson Sch Design Engn, London SW7 1NA, England

[2] Univ Cambridge, Engn Dept, Cambridge CB2 1PZ, England

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2018年 / 3卷 / 02期

基金：

英国工程与自然科学研究理事会;

关键词：

Compliant joint/mechanism; force and tactile sensing; haptics and haptic interfaces; medical robots and systems; biomimetics; DESIGN; FEEDBACK;

D O I：

10.1109/LRA.2018.2793961

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue to maximize the haptic information gain via tendons. Our recent experiments using a controllable stiffness robotic probe representing a human finger also confirmed that such stiffness control in the finger can enhance the accuracy of detecting hard nodules in soft tissue. However, the limited range of stiffness achieved by the antagonistic springs variable stiffness joint subject to size constraints made it unsuitable for a wide range of physical examination scenarios spanning from breast to abdominal examination. In this letter, we present a new robotic probe based on a variable lever mechanism able to achieve stiffness ranging from 0.64 to 1.06 N.m/rad that extends the maximum stiffness by around 16 times and the stiffness range by 33 times. This letter presents the mechanical model of the novel probe, the finite element simulation as well as experimental characterization of the stiffness response for lever actuation.

引用

页码：1168 / 1175

页数：8

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