6. Lump Detection

  1. Saeed Sokhanvar1,
  2. Javad Dargahi2,
  3. Siamak Najarian3 and
  4. Siamak Arbatani2

Published Online: 6 NOV 2012

DOI: 10.1002/9781118357989.ch6

Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics

Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics

How to Cite

Sokhanvar, S., Dargahi, J., Najarian, S. and Arbatani, S. (2012) Lump Detection, in Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9781118357989.ch6

Author Information

  1. 1

    Helbling Precision Engineering Inc., USA

  2. 2

    Concordia University, Montreal, Canada

  3. 3

    Amirkabir University of Technology, Tehran, Iran

Publication History

  1. Published Online: 6 NOV 2012
  2. Published Print: 23 NOV 2012

ISBN Information

Print ISBN: 9781119972495

Online ISBN: 9781118357989

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Keywords:

  • lump detection and hidden anatomical localization;
  • palpation as feeling with the hand, missing within current haptics;
  • hyperelastic FE model of tissue with lump, and parameters;
  • Young's modulus of tissue/lump, investigating distance;
  • constant derivation using stress–strain, as test data of compression;
  • experimental and three-term Mooney–Rivlin strain energy function;
  • ‘mixed u-p formulation’ in hyperelastic incompressible problems;
  • tumors (lumps) detection, lump depth effect and pressure contour;
  • softness sensing, applied load on pressure distribution;
  • identical boundary conditions in finite element, challenging task

Summary

This chapter contains sections titled:

  • Introduction

  • Constitutive Equations for Hyperelasticity

  • Finite Element Modeling

  • The Parametric Study

  • Experimental Validation

  • Discussion and Conclusions

  • References