Working principle of bimodal tactile tomography for intracavitary microstructure profiling and segmentation. (IMAGE)
Caption
(A) Illustration of a distally mounted robotic endoscopic module integrated with the deployable ElastoSight probe for proprioceptive shape observation and force sensing. Schematics of the sliding palpation setup for the tactile segmentation of the inclusion phantom. The scale bar in the figure represents 250 μm. (B) To-scale ElastoSight probe with a €1 coin for scale. (C) Deployable demonstration for active palpation application. (D) The working principle of dual-modal distal B-scan imaging measurement: (i) One modality involves circumferential rotary scanning, achieved through motor-driven rotation, primarily utilized for active palpation to estimate the central location of tumor points. (ii) The other modality employs drag-and-slide scanning, realized through motorized dragging motion, primarily aimed at tumor shape segmentation and identification. (E and F) Schematics of active sliding tactile segmentation toward circle tumor phantom from the raw and elastography views. (G) Compared with the actual boundary, the estimated tumor boundary shape using quadruple and octuple segmentation. OCT, optical coherence tomography; PDMS, polydimethylsiloxane.
Credit
Wenchao Yue, The Chinese University of Hong Kong.
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