TY - GEN
T1 - Experimental study of soft tissue recovery using optical fiber probe
AU - Liu, Hongbin
AU - Puangmali, Pinyo
AU - Althoefer, Kaspar A.
AU - Seneviratne, Lakmal D.
PY - 2007
Y1 - 2007
N2 - This paper proposes a novel experimental study of the recovery of soft tissue after the removal of an external load. An optical fiber probe has been developed to measure the tissue recovery precisely through a static indentation method. Ex-vivo soft tissue recovery tests have been conducted on porcine liver. A robotic manipulator is used to control the motion of the probe and the force sensor is used to record the interaction force at the tip of the probe. An empirical mathematical model which describes the relationship of the liver recovery behavior and the holding time during which the probe keeps the tissue statically indented has been developed. The error analysis shows this model is able to predict liver recovery reasonably well. The experimental study shows that the recovery behavior of soft tissue depends on the holding time of the probe. In addition, the formula of the recovering force of the liver, which was deduced from the rate of liver recovery, is proposed.
AB - This paper proposes a novel experimental study of the recovery of soft tissue after the removal of an external load. An optical fiber probe has been developed to measure the tissue recovery precisely through a static indentation method. Ex-vivo soft tissue recovery tests have been conducted on porcine liver. A robotic manipulator is used to control the motion of the probe and the force sensor is used to record the interaction force at the tip of the probe. An empirical mathematical model which describes the relationship of the liver recovery behavior and the holding time during which the probe keeps the tissue statically indented has been developed. The error analysis shows this model is able to predict liver recovery reasonably well. The experimental study shows that the recovery behavior of soft tissue depends on the holding time of the probe. In addition, the formula of the recovering force of the liver, which was deduced from the rate of liver recovery, is proposed.
UR - https://www.scopus.com/pages/publications/51349133206
U2 - 10.1109/IROS.2007.4399376
DO - 10.1109/IROS.2007.4399376
M3 - Conference contribution
AN - SCOPUS:51349133206
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 516
EP - 521
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -