Surface Model Extraction from Indentation Curves of Hyperelastic Simulation for Abnormality Detection

Yingqiao Yang, Kai Leung Yung, Robert Tin Wai Hung, James Abbott Foster, Kai Ming Yu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


Manual palpation for the detection of anomalies is not possible through the small incisions of Robotic Minimally Invasive Surgery. The proposed novel approach allows robotic palpation by deforming the tissue surface with an indenter and analyzing the corresponding induced surface shape for indications of the abnormalities underneath. Three-dimensional hyperelastic finite element models were used to simulate the tool-tissue interaction of a hemispherical indenter pushing downwards onto the tissue surface. Curve fitting methods were employed to characterize the indentation curve of the deformed surface of either normal or abnormal tissue with an empirical equation. By analyzing these equations, we developed volume-based and gradient-based methods to investigate how the tumor position affects the surface deformation behavior of the tissue.The results of the simulations indicate that there are obvious differences in the surface deformation between healthy and diseased tissue, due to the higher stiffness of the tumor. A significant advantage of the proposed method is that it greatly broadens the detection area by providing estimates on the direction and distance of the tumor from the surrounding area of the indentation site, compared with previous studies only predicting the presence of a tumor in the contact area.

Original languageEnglish
Title of host publication2019 International Symposium on Medical Robotics, ISMR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538678251
Publication statusPublished - 8 May 2019
Event2019 International Symposium on Medical Robotics, ISMR 2019 - Atlanta, United States
Duration: 3 Apr 20195 Apr 2019

Publication series

Name2019 International Symposium on Medical Robotics, ISMR 2019


Conference2019 International Symposium on Medical Robotics, ISMR 2019
Country/TerritoryUnited States


  • deformable surface modeling
  • Finite-Element (FE) modeling
  • Robotic Minimally Invasive Surgery (RMIS)
  • tumor detection

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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