用机械臂精准测量组织弹性，助力机器人辅助触诊
Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterisation with a Collaborative Robotic Arm
- 通过机械臂施力并测量材料响应，反推其黏弹性参数
- 对硅胶样品的测量误差极小，与高精度仪器结果高度一致
- 为机器人触诊和超声检查提供量化依据，适合临床研发者
诊断操作如超声扫描和触诊成本低，对疾病早期发现和进展评估至关重要，但依赖经验，易出错且需高技能人员。机器人方案可降低主观性、缓解等待压力。实现触诊或超声检查的关键在于精确控制与人体的物理交互，这需要准确获取组织的生物力学特性。本文评估了协作机械臂在测量多种材料（包括离体组织）黏弹性参数方面的准确性与重复性，作为方法应用于生物样本的初步验证。测量结果与基于高精度仪器获得的基准值对比，显示机械臂系统精度接近真实值，增强了其在临床应用中的可信度。
原文摘要 · Abstract (English)
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities, which require highly skilled medical staff. The use of robotic solutions can be key to decreasing the inherent subjectivity of the results and reducing the waiting list. For a robot to perform palpation or ultrasound scans, it must effectively manage physical interactions with the human body, which greatly benefits from precise estimation of the patient's tissue biomechanical properties. This paper assesses the accuracy and precision of a robotic system in estimating the viscoelastic parameters of various materials, including some tests on ex vivo tissues as a preliminary proof-of-concept demonstration of the method's applicability to biological samples. The measurements are compared against a ground truth derived from silicone specimens with different viscoelastic properties, characterised using a high-precision instrument. Experimental results show that the robotic system's accuracy closely matches the ground truth, increasing confidence in the potential use of robots for such clinical applications.
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