title: Detection of tumours using a computational tactile sensing approach.
abstract: BACKGROUND
  A new method is presented for determining the existence of an embedded object in biological tissue.
  
  
  METHODS
  We propose a method for modelling tissue containing a simulated tumour. Indications of the existence of a tumour that appear on the surface of the tissue were also determined. FEM provided properties such as the shape, size, depth and location of tumour.
  
  
  RESULTS
  A number of different cases were created and solved by the software and tactile images and stress graphs were extracted. These results clearly showed the existence of the tumour in the tissue. Maximum stresses were used to create tactile maps. Simulation results demonstrated good agreements with other studies.
  
  
  CONCLUSIONS
  Three-dimensional analysis leads to a novel method of predicting the characteristics of a tumour and can be directly applied to the incorporation of tactile sensing in artificial palpation, helping surgeons in non-invasive procedures.
authors.affiliation: Biomechanics Department, Laboratory of Artificial Tactile Sensing and Robotic Surgery, Faculty of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran.
authors.forename: Mohsen
authors.initials: M
authors.lastname: Hosseini
authors.forename: Siamak
authors.initials: S
authors.lastname: Najarian
authors.forename: Samira
authors.initials: S
authors.lastname: Motaghinasab
authors.forename: Javad
authors.initials: J
authors.lastname: Dargahi
mesh_terms: D003198:Computer Simulation; D003936:Diagnosis, Computer-Assisted / Q000379:methods; D004548:Elasticity; D006244:Hardness; D006245:Hardness Tests / Q000379:methods*; D008954:Models, Biological; D009369:Neoplasms / Q000175:diagnosis* / Q000503:physiopathology*; D010173:Palpation / Q000379:methods*; D010812:Physical Stimulation / Q000379:methods*; D012371:Robotics / Q000379:methods*; D013314:Stress, Mechanical; D014110:Touch