一种用于检测嵌入式物体的医疗触觉传感仪器，特别适用于乳房检查。

A medical tactile sensing instrument for detecting embedded objects, with specific application for breast examination.

机构信息

Biomechanics Department, Centre of Excellence of Biomedical Engineering of Iran, Laboratory of Artificial Tactile Sensing and Robotic Surgery, Faculty of Biomedical Engineering (Tehran Polytechnic), Amirkabir University of Technology, Tehran, Iran.

出版信息

Int J Med Robot. 2010 Mar;6(1):73-82. doi: 10.1002/rcs.291.

DOI:10.1002/rcs.291

PMID:20013825

Abstract

BACKGROUND

In this paper, having considered the tactile sensing and palpation of a physician in order to detect abnormal masses in the breast, we simplified and then modelled the tissue containing a mass and used contact elements to analyse the tactile sensor function.

METHODS

By using the finite element method, the effects of the mass existence appeared on the surface of the tissue. This was due to exerting mechanical load on the modelled tissue surface. Following this, a tactile sensing instrument called the 'tactile tumour detector' (TTD) was designed and constructed. This device is able to detect abnormal objects in the simulated models by making contact with model surfaces. In order to perform a series of precise experiments, a robot that could hold the tactile probe was used. The velocity of the linear movement of the probe is low enough to ensure that the tissue behaves in the linear elastic range, so that dynamic effects can be neglected.

RESULTS AND DISCUSSION

The maximum value of stresses was chosen as the comparison criterion. The variation of this criterion vs. the mass parameter changes was investigated and good agreements between numerical and experimental results were obtained. Moreover, the sensitivity and specificity of TTD and clinical breast examination (CBE) in the detection of breast masses, in comparison to sonography as the 'gold standard', were calculated by performing clinical trials on 55 cases.

摘要

背景

在本文中，为了检测乳房中的异常肿块，我们考虑了医生的触觉感知和触诊，简化并建模了包含肿块的组织，并使用接触元件来分析触觉传感器的功能。

方法

通过有限元法，研究了机械负载作用于建模组织表面时，肿块存在对组织表面的影响。在此基础上，设计并构建了一种称为“触诊肿瘤探测器”（TTD）的触觉传感仪器。该设备能够通过与模型表面接触来检测模拟模型中的异常物体。为了进行一系列精确的实验，使用了能够握持触觉探头的机器人。探针的线性运动速度足够低，以确保组织在线性弹性范围内表现，从而可以忽略动态效应。