Using Visual Cues to Enhance Haptic Feedback for Palpation on Virtual Model of Soft Tissue

This paper explores methods that make use of visual cues aimed at generating actual haptic sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback based method capable of conveying 3D haptic information and combining visual haptics with force feedback to enhance the user’s haptic experience. We focused on an application related to tumor identification during palpation and evaluated the proposed method in an experimental study where users interacted with a haptic device and graphical interface while exploring a virtual model of soft tissue, which represented stiffness distribution of a silicone phantom tissue with embedded hard inclusions. The performance of hard inclusion detection using force feedback only, pseudo-haptic feedback only, and the combination of the two feedbacks were compared with the direct hand touch. The combination method and direct hand touch had no significant difference in the detection results. Compared with the force feedback alone, our method increased the sensitivity by 5%, the positive predictive value by 4%, and decreased detection time by 48.7%. The proposed methodology has great potential for robot-assisted minimally invasive surgery and in all applications where remote haptic feedback is needed

Multiscale modelling of fluid and solute transport in soft tissues and microvessels

This study focuses on the movement of particles and extracellular fluid in soft tissues and microvessels. It analyzes modeling applications in biological and physiological fluids at a range of different length scales: from between a few tens to several hundred nanometers, on the endothelial glycocalyx and its effects on interactions between blood and the vessel wall; to a few micrometers, on movement of blood cells in capillaries and transcapillary exchange; to a few millimetres and centimetres, on extracellular matrix deformation and interstitial fluid movement in soft tissues. Interactions between blood cells and capillary wall are discussed when the sizes of the two are of the same order of magnitude, with the glycocalyx on the endothelial and red cell membranes being considered. Exchange of fluid, solutes, and gases by microvessels are highlighted when capillaries have counter-current arrangements. This anatomical feature exists in a number of tissues and is the key in the renal medulla on the urinary concentrating mechanism. The paper also addresses an important phenomenon on the transport of macromolecules. Concentration polarization of hyaluronan on the synovial lining of joint cavities is presented to demonstrate how the mechanism works in principle and how model predictions agree to experimental observations quantitatively

Modeling and simulation in tribology across scales: An overview

This review summarizes recent advances in the area of tribology based on the outcome of a Lorentz Center workshop surveying various physical, chemical and mechanical phenomena across scales. Among the main themes discussed were those of rough surface representations, the breakdown of continuum theories at the nano- and micro-scales, as well as multiscale and multiphysics aspects for analytical and computational models relevant to applications spanning a variety of sectors, from automotive to biotribology and nanotechnology. Significant effort is still required to account for complementary nonlinear effects of plasticity, adhesion, friction, wear, lubrication and surface chemistry in tribological models. For each topic, we propose some research directions

Multiscale mechano-morphology of soft tissues : a computational study with applications to cancer diagnosis and treatment

Cooperation of engineering and biomedical sciences has produced significant advances in healthcare technology. In particular, computational modelling has led to a faster development and improvement of diagnostic and treatment techniques since it allows exploring multiple scenarios without additional complexity and cost associated to the traditional trial-and-error methodologies. The goal of this thesis is to propose computational methodologies to analyse how the changes in the microstructure of soft tissues, caused by different pathological conditions, influence the mechanical properties at higher length scales and, more importantly, to detect such changes for the purpose of quantitative diagnosis and treatment of such pathologies in the scenario of drug delivery. To achieve this objective different techniques based on quasi-static and dynamic probing have been established to perform quantitative tissue diagnosis at the microscopic (tissue) and macroscopic (organ) scales. The effects of pathologies not only affect the mechanical properties of tissue (e.g. elasticity and viscoelasticity), but also the transport properties (e.g. diffusivity) in the case of drug delivery. Such transport properties are further considered for a novel multi-scale, patient-specific framework to predict the efficacy of chemotherapy in soft tissues. It is hoped that this work will pave the road towards non-invasive palpation techniques for early diagnosis and optimised drug delivery strategies to improve the life quality of patientsJames-Watt Scholarship, Heriot-Watt Annual Fund and the Institute of Mechanical, Process and Energy Engineering (IMPEE) Grant

Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe

This paper provides a solution for fast haptic information gain during soft tissue palpation using a Variable Lever Mechanism (VLM) probe. More specifically, we investigate the impact of stiffness variation of the probe to condition likelihood functions of the kinesthetic force and tactile sensors measurements during a palpation task for two sweeping directions. Using knowledge obtained from past probing trials or Finite Element (FE) simulations, we implemented this likelihood conditioning in an autonomous palpation control strategy. Based on a recursive Bayesian inferencing framework, this new control strategy adapts the sweeping direction and the stiffness of the probe to detect abnormal stiff inclusions in soft tissues. This original control strategy for compliant palpation probes shows a sub-millimeter accuracy for the 3D localization of the nodules in a soft tissue phantom as well as a 100% reliability detecting the existence of nodules in a soft phantom

Caracterización de tejido cerebral artificial utilizando Inverse-FEM para simular indentación y comprensión

The realistic simulation of tool-tissue interactions is necessary for the development of surgical simulators and one of the key element for it realism is accurate bio-mechanical tissue models. In this paper, we determined the mechanical properties of soft tissue by minimizing the difference between experimental measurements and the analytical or simulated solution of the deformation. Then, we selected the best model parameters that fit the experimental data to simulate a bonded compression and a needle indentation with a flat-tip. We show that the inverse FEM allows accurate material property estimation. We also validated our results using multiple tool-tissue interactions over the same specimen.La simulación realista de las interacciones herramienta-tejido es necesaria para el desarrollo de simuladores quirúrgicos y uno de los elementos clave para su realismo son los modelos precisos de tejido biomecánico. En este artículo, determinamos las propiedades mecánicas del tejido blando minimizando la diferencia entre las mediciones experimentales y la solución analítica o simulada de la deformación. Luego, seleccionamos los mejores parámetros del modelo que se ajustan a los datos experimentales para simular una compresión unida y una sangría de aguja con una punta plana. Mostramos que el FEM inverso permite una estimación precisa de la propiedad del material. También validamos nuestros resultados usando múltiples interacciones herramienta-tejido sobre la misma muestra

Predictive Modeling of Tissue Mechanical Response for Rolling Motion

The application of miniature, in vivo wheeled surgical robots placed inside the abdominal cavities may improve and expand the application of minimally invasive surgery (MIS). Study of robotic mobility is necessary to advance this work by providing good criteria for performance evaluation of wheel pattern design strategies. The research reported aims at the development of an analytical base model of rolling motion on tissue and verification of model effectiveness through experimental and computational methods. The results derived in this work are anticipated to be used as the foundation of a more detailed and specific analytical model, and provide guidance for future wheel pattern design of in vivo surgical robots