A Passive Robotic Platform for Three-Dimensional Scanning of Ex Vivo Soft Tissue
This paper presents a novel portable passive robotic platform for three-dimensional scanning (3DS) of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition. The platform comprises six degrees of freedom (DOF) passive robotic arm (Phantom Omni), a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours.
Robotic platform Soft tissue 3D scanning
Jichun Li Jelizaveta Zirjakova Wei Yao Kaspar Althoefer Prokar Dasgupta Lakmal D Seneviratne
Centre for Robotics Research, Kings College London, London, WC2R 2LS, UK Guys Hospital, Centre for Urology, Kings College London, London, SE1 9RT, UK Centre for Robotics Research, Kings College London, London, WC2R 2LS, UK Khalifa University of Scie
国际会议
天津
英文
477-485
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）