| Volume 25 Issue 5/6 - Publication Date: 1 May/June 2006 |
| Special Issue on the Ninth International Symposium
on Experimental Robotics, 2004 |
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| Non-Contact Stiffness Imager |
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| 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 |
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| 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. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
| 1 |
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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) |
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2 |
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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 |
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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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