title: Development of a Soft Tissue Elastography Robotic Arm (STiERA).
abstract: High fidelity surgical simulations must rely upon accurate soft tissue models to ensure realism of the simulations. Simulating multi-layer tissue becomes increasingly complex due to the specific mechanical properties of each individual layer. We have developed a Soft Tissue Elastography Robotic Arm (STiERA) system capable of identifying layer specific properties of multi-layer constructs while maintaining the integrity of each layer. The system was validated using tissue mimicking agar gel phantoms and showed great promise by identifying the layer specific properties with accuracy of greater than 80% when compared to known ground truth values from a commercial material testing system.
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM) Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Saurabh
authors.initials: S
authors.lastname: Dargar
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM) Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Ali Cagdas
authors.initials: AC
authors.lastname: Akyildiz
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM) Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Suvranu
authors.initials: S
authors.lastname: De
mesh_terms: D003238:Connective Tissue / Q000000981:diagnostic imaging* / Q000502:physiology* / Q000601:surgery; D055119:Elastic Modulus / Q000502:physiology; D054459:Elasticity Imaging Techniques / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D010173:Palpation / Q000295:instrumentation*; D019047:Phantoms, Imaging; D010812:Physical Stimulation / Q000295:instrumentation*; D015203:Reproducibility of Results; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D012680:Sensitivity and Specificity