IROS2022 best application paper award

Описание: This is the talk given by Pilar Zhang Qiu in the IROS 2022 best application paper nominated paper session. The paper was titled "Soft tissue characterisation using a novel medical percussion device with acoustic analysis and neural networks".

Physicians have been using percussion to For centuries, physicians have been using a technique called percussion to examine patients, where they place one hand flat on the abdomen and tap on it using the other hand with a relaxed wrist. So far, we have not understood the scientific principles behind this manual examination technique. Are they using a process like bats but with tactile echoes? Are they just listening to the sounds? Or are they doing both?

Design Engineering Masters students, Pilar Zhang Qiu, Jacob Tan, Oliver Thompson, and Ben Cobley who took my 4th year Robotics Research Projects module ( https://lnkd.in/d6jmjiRj ), designed a percussion device with a spring-loaded hammer and tapped on a silicone rubber phantom with a buried hard nodule. They measured the vibrations away from the nodule and decomposed them into primitive wave shapes using Wavelet Transforms. They saw unique wave patterns carrying information about the hard nodule. A pattern classification algorithm was used to make conclusions about the nodule. The results were peer reviewed and accepted for publication in IEEE Robotics and Automation Letters (RAL), which is one of the flagship journals in robotics and IROS 2022 held in Kyoto.