Lump detection with a gelsight sensor
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Adelson_Lump detection.pdf
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Author(s)
Jia, Xiaodan
Li, Rui
Srinivasan, Mandayam A.
Adelson, Edward H.
Date Issued
April 2013
Journal
Proceedings of the 2013 World Haptics Conference (WHC)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Xiaodan Jia, Rui Li, M. A. Srinivasan, and E. H. Adelson. “Lump Detection with a Gelsight Sensor.” 2013 World Haptics Conference (WHC) (n.d.).
Version
Author's final manuscript
Abstract
A GelSight sensor is a tactile sensing device comprising a clear elastomeric pad covered with a reflective membrane, coupled with optics to measure the membrane's deformations. When the pad is pressed against an object's surface, the membrane changes shape in accord with mechanical and geometrical properties of the object. Since soft tissue is more compliant than hard tissue, one can detect an embedded lump by pressing the GelSight pad against the tissue surface and observing the hump that forms over the lump. We tested this system's sensitivity by constructing phantoms of soft rubber with hard embedded lumps. The system is quite sensitive; for example it could detect a 2mm lump at a depth of 5mm. The sensor was more sensitive than previous tactile lump detectors. It was also better than human observers using their fingertips. Such a capability could help in tumor screening, and could augment the sensory information available in telemedicine or minimally invasive surgery.
MIT Department
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Human and Machine Haptics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/WHC.2013.6548404
