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Proceedings Paper

Fuzzy evaluation of stiffness of tissue by means of micromanipulator
Author(s): Sumiko Majima; Kozo Matsushima
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Paper Abstract

We have developed a bilateral controlled remote micro-manipulator system for medical application. By operating this system an opretor can perceive the stiffness of small part of tissue with his/her tactile sense and the visco-elastic parameters of the tissue are identified from the measerments of the displacement and the reaction force on the slave manipulator. Firstly the relation between the tactile sense and the identified viscoelastic parameters is experimentally obtained. And then using this relation a method which evaluates the stiffness of the tissue by means of the fuzzy reasoning is proposed.

Paper Details

Date Published: 22 September 1993
PDF: 6 pages
Proc. SPIE 2101, Measurement Technology and Intelligent Instruments, (22 September 1993); doi: 10.1117/12.156496
Show Author Affiliations
Sumiko Majima, Univ. of Tsukuba (Japan)
Kozo Matsushima, Toin Univ. of Yokohama (Japan)


Published in SPIE Proceedings Vol. 2101:
Measurement Technology and Intelligent Instruments

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