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A cable driven robotic palpation system with contact force sensing based on cable tension observation
BACKGROUND: Prostate Cancer screening based on manual palpation is subjective. Robotic palpation systems can objectively acquire stiffness conditions of the prostate. METHODS: A 2DoF cable driven robotic system for prostate palpation is proposed. An indirect method to estimate the contact force base...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
John Wiley and Sons Inc.
2022
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9786714/ https://www.ncbi.nlm.nih.gov/pubmed/35727607 http://dx.doi.org/10.1002/rcs.2435 |