KFU. Card publication. Medical palpation autonomous robotic system modeling and simulation in ROS/Gazebo

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

MEDICAL PALPATION AUTONOMOUS ROBOTIC SYSTEM MODELING AND SIMULATION IN ROS/GAZEBO

Form of presentation

Articles in international journals and collections

Year of publication

2020

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Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Coy Tatyana Grigorevna, author

Bibliographic description in the original language

Shafikov A., Tsoy T., Lavrenov R., Magid E., Li H., Maslak E., Schiefermeier-Mach N. Medical palpation autonomous robotic system modeling and simulation in ROS/Gazebo // Proceedings of 13th International Conference on Developments in eSystems Engineering (DeSE) (Wuhan, China; 14-17 December 2020) - p. 200-205.

Annotation

Manual medical palpation task performed by a human doctor is characterized by complexity of multiple source data fusion and decision subjectivity, which significantly depends on a doctor experience and sensitivity. Therefore automated robotized approach could provide more reliable and independent results relative to a manual palpation. This paper presents a model and the Gazebo simulation of an autonomous robotic system that performs palpation of an arbitrary soft surface. The system uses a modified KUKA IIWA LBR manipulator model, equipped with a spherical indenter and a new force sensor plugin. In order to perform a palpation procedure, the system gathers data from a virtual Kinect camera and computes points for palpation based on an acquired point cloud. We introduce an implementation of soft bodies features with variable stiffness to the Gazebo simulator based on DART physics engine capabilities. The developed system was tested in the Gazebo simulator by simulating palpation of abdomen soft model with variable stiffness over its surface. The system successfully performed the palpation and was able to detect an area of high stiffness.

Keywords

autonomous palpation, coverage algorithm, robotic palpation, robotics, soft body simulation

The name of the journal

Proceedings - International Conference on Developments in eSystems Engineering, DeSE

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85107627037&doi=10.1109%2fDeSE51703.2020.9450784&partnerID=40&md5=332528894a9add6338f993b45dddbea8

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=255747&p_lang=2

Resource files

File name	Size (MB)	Format
F_Dese_2020_Shafikov.pdf	5,43	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.date.accessioned	2020-01-01T00:00:00Z	ru_RU
dc.date.available	2020-01-01T00:00:00Z	ru_RU
dc.date.issued	2020	ru_RU
dc.identifier.citation	Shafikov A., Tsoy T., Lavrenov R., Magid E., Li H., Maslak E., Schiefermeier-Mach N. Medical palpation autonomous robotic system modeling and simulation in ROS/Gazebo // Proceedings of 13th International Conference on Developments in eSystems Engineering (DeSE) (Wuhan, China; 14-17 December 2020) - p. 200-205.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=255747&p_lang=2	ru_RU
dc.description.abstract	Proceedings - International Conference on Developments in eSystems Engineering, DeSE	ru_RU
dc.description.abstract	Manual medical palpation task performed by a human doctor is characterized by complexity of multiple source data fusion and decision subjectivity, which significantly depends on a doctor experience and sensitivity. Therefore automated robotized approach could provide more reliable and independent results relative to a manual palpation. This paper presents a model and the Gazebo simulation of an autonomous robotic system that performs palpation of an arbitrary soft surface. The system uses a modified KUKA IIWA LBR manipulator model, equipped with a spherical indenter and a new force sensor plugin. In order to perform a palpation procedure, the system gathers data from a virtual Kinect camera and computes points for palpation based on an acquired point cloud. We introduce an implementation of soft bodies features with variable stiffness to the Gazebo simulator based on DART physics engine capabilities. The developed system was tested in the Gazebo simulator by simulating palpation of abdomen soft model with variable stiffness over its surface. The system successfully performed the palpation and was able to detect an area of high stiffness.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	autonomous palpation	ru_RU
dc.subject	coverage algorithm	ru_RU
dc.subject	robotic palpation	ru_RU
dc.subject	robotics	ru_RU
dc.subject	soft body simulation	ru_RU
dc.title	Medical palpation autonomous robotic system modeling and simulation in ROS/Gazebo	ru_RU
dc.type	Articles in international journals and collections	ru_RU