Ayyildiz M, Guclu B, Yildiz Mustafa Zahid, Basdogan C
IEEE Trans Haptics. 2013 Apr-Jun;6(2):145-55. doi: 10.1109/TOH.2012.54.
We developed a compact tactile imaging (TI) system to guide the clinician or the self-user for noninvasive detection of breast tumors. Our system measures the force distribution based on the difference in stiffness between a palpated object and an abnormality within. The average force resolution, force range, and the spatial resolution of the device are 0.02 N, 0-4 N, and 2.8 mm, respectively. To evaluate the performance of the proposed TI system, compression experiments were performed to measure the sensitivity and specificity of the system in detecting tumor-like inclusions embedded in tissue-like cylindrical silicon samples. Based on the experiments performed with 11 inclusions, having two different sizes and two different stiffnesses located at three different depths, our TI system showed an average sensitivity of 90.8 ± 8.1 percent and an average specificity of 89.8 ± 12.7 percent. Finally, manual palpation experiments were performed with 12 human subjects on the same silicon samples and the results were compared to that of the TI system. The performance of the TI system was significantly better than that of the human subjects in detecting deep inclusions while the human subjects performed slightly better in detecting shallow inclusions close to the contact surface.
我们开发了一种紧凑型触觉成像（TI）系统，用于指导临床医生或自我使用者对乳腺肿瘤进行无创检测。我们的系统基于被触诊物体与内部异常之间的硬度差异来测量力分布。该设备的平均力分辨率、力范围和空间分辨率分别为0.02 N、0 - 4 N和2.8 mm。为了评估所提出的TI系统的性能，进行了压缩实验，以测量该系统在检测嵌入组织状圆柱形硅样品中的肿瘤样内含物时的灵敏度和特异性。基于对11个内含物进行的实验，这些内含物具有两种不同尺寸和两种不同硬度，位于三个不同深度，我们的TI系统显示平均灵敏度为90.8±8.1%，平均特异性为89.8±12.7%。最后，对12名人类受试者在相同的硅样品上进行了手动触诊实验，并将结果与TI系统的结果进行比较。在检测深部内含物时，TI系统的性能明显优于人类受试者，而人类受试者在检测靠近接触表面的浅部内含物时表现稍好。
