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A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue

Li, Jichun and Zirjakova, Jelizaveta and Yao, Wei and Althoefer, Kaspar and Dasgupta, Prokar and Seneviratne, Lakmal (2012) A passive robotic platform for three-dimensional scanning of ex-vivo soft tissue. In: Advances in reconfigurable mechanisms and robots I. Springer-Verlag, Berlin, pp. 477-487. ISBN 9781447141402

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Abstract

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.

Item type: Book Section
ID code: 40911
Keywords: passive robotic platform , three-dimensional scanning , ex-vivo soft tissue, robotic platform , 3D scanning , soft tissue , Bioengineering
Subjects: Technology > Engineering (General). Civil engineering (General) > Bioengineering
Department: Faculty of Engineering > Biomedical Engineering
Related URLs:
    Depositing user: Pure Administrator
    Date Deposited: 16 Aug 2012 15:52
    Last modified: 06 Sep 2014 08:42
    URI: http://strathprints.strath.ac.uk/id/eprint/40911

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