title: Palpation imaging using a haptic system for virtual reality applications in medicine.
abstract: In the field of medical diagnosis, there is a strong need to determine mechanical properties of biological tissue, which are of histological and pathological relevance. Malignant tumors are significantly stiffer than surrounding healthy tissue. One of the established diagnosis procedures is the palpation of body organs and tissue. Palpation is used to measure swelling, detect bone fracture, find and measure pulse, or to locate changes in the pathological state of tissue and organs. Current medical practice routinely uses sophisticated diagnostic tests through magnetic resonance imaging (MRI), computed tomography (CT) and ultrasound (US) imaging. However, they cannot provide direct measure of tissue elasticity. Last year we presented the concept of the first haptic sensor actuator system to visualize and reconstruct mechanical properties of tissue using ultrasonic elastography and a haptic display with electrorheological fluids. We developed a real time strain imaging system for tumor diagnosis. It allows biopsies simultaneously to conventional ultrasound B-Mode and strain imaging investigations. We deduce the relative mechanical properties by using finite element simulations and numerical solution models solving the inverse problem. Various modifications on the haptic sensor actuator system have been investigated. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching and telecommunication.
authors.affiliation: Ruhr-University Bochum, Bochum, Germany.
authors.forename: W
authors.initials: W
authors.lastname: Khaled
authors.forename: S
authors.initials: S
authors.lastname: Reichling
authors.forename: O T
authors.initials: OT
authors.lastname: Bruhns
authors.forename: H
authors.initials: H
authors.lastname: Boese
authors.forename: M
authors.initials: M
authors.lastname: Baumann
authors.forename: G
authors.initials: G
authors.lastname: Monkman
authors.forename: S
authors.initials: S
authors.lastname: Egersdoerfer
authors.forename: D
authors.initials: D
authors.lastname: Klein
authors.forename: A
authors.initials: A
authors.lastname: Tunayar
authors.forename: H
authors.initials: H
authors.lastname: Freimuth
authors.forename: A
authors.initials: A
authors.lastname: Lorenz
authors.forename: A
authors.initials: A
authors.lastname: Pessavento
authors.forename: H
authors.initials: H
authors.lastname: Ermert
mesh_terms: D001696:Biomechanical Phenomena; D004548:Elasticity; D005858:Germany; D006801:Humans; D010173:Palpation / Q000379:methods*; D012212:Rheology; D014584:User-Computer Interface