Jelizaveta Konstantinova

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Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. Haptic information could improve the clinical outcomes significantly and help to detect hard inclusions within soft-tissue organs indicating potential abnormalities. However, system instability is often caught by direct force feedback. In this paper, a(More)
This paper explores methods that make use of visual cues aimed at generating actual haptic sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback-based method capable of conveying 3D haptic information and combining visual haptics with force feedback to enhance the user’s haptic experience. We focused on an application related(More)
Improving the effectiveness of artificial tactile sensors for soft-tissue examination and tumor localization is a pressing need in robot-assisted minimally invasive surgery. Despite the availability of tactile probes, guidelines for optimal palpation behavior that best exploit soft-tissue properties are not available as yet. Simulations on soft-tissue(More)
Advanced tactile tools in minimally invasive surgery have become a pressing need in order to reduce time and improve accuracy in localizing potential tissue abnormalities. In this regard, one of the main challenges is to be able to estimate tissue parameters in real time. In palpation, tactile information felt at a given location is identified by the(More)
It is well known that tactile information can be used to enhance the quality of grasping. Therefore, new technological solutions for sensing in grasping are needed. This paper presents an optical based fingertip sensor that measures both interaction forces and proximity between fingertip and environment. The combination of multiple sensing modalities in the(More)
Robot–assisted minimal invasive surgery made it possible to improve the quality of surgical procedures and to enhance clinical outcomes. However, the need to palpate soft tissue organs with the aim to localize potential sites of abnormalities in real time has been recognized. For this work, ten subjects were recruited to perform a remote palpation procedure(More)
This paper investigates how a walker could maintain the variability of an arbitrary set of state variables within desired margins while walking on an uncertain soft terrain. The state variables are dynamically related to the visco-elastic impedance parameters of the body on a given set of uncertain soft terrains using internal memory primitives. A rimless(More)
This paper presents experimental evidence for the existence of a set of unique force modulation strategies during manual soft tissue palpation to locate hard abnormalities such as tumors. We explore the active probing strategies of defined local areas and outline the role of force control. In addition, we investigate whether the applied force depends on the(More)
Palpation or perception of tactile information from soft tissue organs during minimally invasive surgery is required to improve clinical outcomes. One of the methods of palpation includes examination using the modulation of applied force on the localized area. This paper presents a method of soft tissue autonomous palpation based on the mathematical model(More)