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Volume 25 Issue 5/6 - Publication Date: 1 May/June 2006
Special Issue on the Ninth International Symposium on Experimental Robotics, 2004
 
Non-Contact Stiffness Imager
 
T. Kawahara Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima 739-8527, JAPAN, S. Tanaka Graduate School of Biomedical Science, Hiroshima University Hospital, Hiroshima 734-8551, JAPAN, and M. Kaneko Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima 739-8527, JAPAN
 
This paper proposes a Non-Contact Stiffness Imager that can enhance the definition of a stiff point by imparting a fluid force to the environment. The force is applied to the environment at a local point and displacement of the environment is measured in the surrounding area. We first demonstrate the basic idea by utilizing an experimental system composed of an air supply system and a scanning type line laser sensor. Then we apply the idea to an endoscope camera capable of detecting a stiff point.
 
Multimedia Key
= Video = Data = Code = Image
 
Extension
Type
Description
1
Example 1: The direct image from CCD, stiffness patten, and ischemia pattern respectively, while the tip of the endoscope is manually moved in the human stomach. In this case, the water-jet is not given to the tissue and so the ischemia pattern does not change. (3.8 MB)
2
Example 2: The direct image from CCD, stiffness pattern, and ischemia pattern, respectively, while the water-jet is given to a normal tissue. (6.9 MB)
3
Example 3: The direct image from CCD, stiffness pattern, and ischemia pattern, respectively, while the water-jet is given to a cancer tissue. (7.0 MB)
 
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