Study on Robotic Palpation Hand

Abstract

Palpation is a noninvasive and quick medical procedure that can be used to estimate disease by directly touching the affected area. Palpation is a skill passed down from master to apprentice through experience, and quantification of palpation and its reproduction by an autonomous robot have not been realized. In this study, to define palpation movements, we interviewed dermatologists who frequently perform palpation in their medical practice, and measured / analyzed the posture and finger pressure during palpation. As a result, the palpation movements of physicians was classified into five types ( "rubbing," "pushing," "pinching," "rocking," and "kneading") based on differences in the trajectory of the fingertips and the affected area condition. Thus the requirement specifications to develop robot hand was achieved.