Evaluation of stiffness calculation for organ palpation device with electro-hydraulic transmission system based remote actuator

Kenji Ogawa; Kouhei Ohnishi

doi:10.1109/INDIN.2015.7281764

Evaluation of stiffness calculation for organ palpation device with electro-hydraulic transmission system based remote actuator

Kenji Ogawa, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

The purpose of this research is to realize the novel palpation method called 'organ palpation'. In conventional palpation method, the doctor knows the hardness of organ by his force sense. However, the organ palpation can get the quantitative hardness value by pushing the organ directly. In order to measure the hardness of organ directly, a remote actuator and an endoscope are utilized. In this paper, Electro-hydraulic transmission system (EHTS) based remote actuator is utilized for organ palpation. EHTS is one of the actuating systems using the fluid energy and mechanical energy. This actuator can transmit the position and force remotely without transmission loss. In order to confirm the efficacy of organ palpation device, the experiment assuming organ palpation is done. Through the experimental results, the environment stiffness calculation performance of EHTS based remote actuator is confirmed. In addition, the performance of EHTS based remote actuator is compared with 'flexible actuator'.

Original language	English
Title of host publication	Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	378-383
Number of pages	6
ISBN (Print)	9781479966493
DOIs	https://doi.org/10.1109/INDIN.2015.7281764
Publication status	Published - 2015 Sept 28
Event	13th International Conference on Industrial Informatics, INDIN 2015 - Cambridge, United Kingdom Duration: 2015 Jul 22 → 2015 Jul 24

Other

Other	13th International Conference on Industrial Informatics, INDIN 2015
Country/Territory	United Kingdom
City	Cambridge
Period	15/7/22 → 15/7/24

Keywords

Actuators
Biological systems
Force
Force measurement
Friction
Mathematical model
Propagation losses

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Industrial and Manufacturing Engineering
Instrumentation
Computer Networks and Communications
Control and Systems Engineering

Access to Document

10.1109/INDIN.2015.7281764

Cite this

Ogawa, K., & Ohnishi, K. (2015). Evaluation of stiffness calculation for organ palpation device with electro-hydraulic transmission system based remote actuator. In Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015 (pp. 378-383). [7281764] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIN.2015.7281764

Evaluation of stiffness calculation for organ palpation device with electro-hydraulic transmission system based remote actuator. / Ogawa, Kenji; Ohnishi, Kouhei.
Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 378-383 7281764.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ogawa, K & Ohnishi, K 2015, Evaluation of stiffness calculation for organ palpation device with electro-hydraulic transmission system based remote actuator. in Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015., 7281764, Institute of Electrical and Electronics Engineers Inc., pp. 378-383, 13th International Conference on Industrial Informatics, INDIN 2015, Cambridge, United Kingdom, 15/7/22. https://doi.org/10.1109/INDIN.2015.7281764

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abstract = "The purpose of this research is to realize the novel palpation method called 'organ palpation'. In conventional palpation method, the doctor knows the hardness of organ by his force sense. However, the organ palpation can get the quantitative hardness value by pushing the organ directly. In order to measure the hardness of organ directly, a remote actuator and an endoscope are utilized. In this paper, Electro-hydraulic transmission system (EHTS) based remote actuator is utilized for organ palpation. EHTS is one of the actuating systems using the fluid energy and mechanical energy. This actuator can transmit the position and force remotely without transmission loss. In order to confirm the efficacy of organ palpation device, the experiment assuming organ palpation is done. Through the experimental results, the environment stiffness calculation performance of EHTS based remote actuator is confirmed. In addition, the performance of EHTS based remote actuator is compared with 'flexible actuator'.",

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AB - The purpose of this research is to realize the novel palpation method called 'organ palpation'. In conventional palpation method, the doctor knows the hardness of organ by his force sense. However, the organ palpation can get the quantitative hardness value by pushing the organ directly. In order to measure the hardness of organ directly, a remote actuator and an endoscope are utilized. In this paper, Electro-hydraulic transmission system (EHTS) based remote actuator is utilized for organ palpation. EHTS is one of the actuating systems using the fluid energy and mechanical energy. This actuator can transmit the position and force remotely without transmission loss. In order to confirm the efficacy of organ palpation device, the experiment assuming organ palpation is done. Through the experimental results, the environment stiffness calculation performance of EHTS based remote actuator is confirmed. In addition, the performance of EHTS based remote actuator is compared with 'flexible actuator'.

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Evaluation of stiffness calculation for organ palpation device with electro-hydraulic transmission system based remote actuator

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Keywords

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