A cable driven robotic palpation system with contact force sensing based on cable tension observation.

Chikweto FrancisTaiga SatoTakeshi OkuyamaMami Tanaka

Published in: The international journal of medical robotics + computer assisted surgery : MRCAS (2022)

In the proposed palpation system, the indirect contact force estimation method is viable and holds potential for the stiffness assessment of the prostate. The tip position vital for palpation can be determined through estimated joint angles.

Keyphrases

single molecule
prostate cancer
benign prostatic hyperplasia
robot assisted
human health
risk assessment