A Method of Bio-tissue Hardness Measurement by Force Sensor-less Organ Palpation Device

Abstract

Palpation is a kind of fundamental method for detecting abnormal tissue. It is known as minimally invasive and easy method. However, palpation cannot measure the hardness of bio tissue quantitatively. In order to achieve quantitative palpation, this research proposes force sensor-less palpating method. The advantage of proposal method is to be able to measure bio tissue without considering the space for the force sensor. Therefore, it is possible to measure in narrow area. Validity of the proposed device is confirmed by the animal experiment.