@inproceedings{29189ebaa55c445a832bcb25d96feaa8,
title = "A passive robotic platform for three-dimensional scanning of ex vivo soft tissue",
abstract = "This paper presents a novel portable passive robotic platform for three-dimensional scanning (3DS) of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition. The platform comprises six degrees of freedom (DOF) passive robotic arm (Phantom Omni), a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours.",
keywords = "3D scanning, Robotic platform, Soft tissue",
author = "Jichun Li and Jelizaveta Zirjakova and Wei Yao and Kaspar Althoefer and Prokar Dasgupta and Seneviratne, {Lakmal D.}",
year = "2012",
doi = "10.1007/978-1-4471-4141-9_43",
language = "British English",
isbn = "9781447141402",
series = "Advances in Reconfigurable Mechanisms and Robots I",
pages = "477--485",
booktitle = "Advances in Reconfigurable Mechanisms and Robots I",
note = "2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012 ; Conference date: 09-07-2012 Through 11-07-2012",
}