Design and Development of a Novel Soft and Inflatable Tactile Sensing Balloon for Early Diagnosis of Colorectal Cancer Polyps.

In this paper, with the goal of addressing the high early-detection miss rate of colorectal cancer (CRC) polyps during a colonoscopy procedure, we propose the design and fabrication of a unique inflatable vision-based tactile sensing balloon (VTSB). The proposed soft VTSB can readily be integrated with the existing colonoscopes and provide a radiation-free, safe, and high-resolution textural mapping and morphology characterization of CRC polyps. The performance of the proposed VTSB has been thoroughly characterized and evaluated on four different types of additively manufactured CRC polyp phantoms with three different stiffness levels.

A Reliable and Sensitive Framework for Simultaneous Type and Stage Detection of Colorectal Cancer Polyps.

With the goal of enhancing the early diagnosis of colorectal cancer (CRC) polyps and reducing the risk of mortality in cancer patients, in this article, we present a unique diagnosis framework including a Vision-based Surface Tactile Sensor (VS-TS) and complementary Artificial Intelligence algorithms. Leveraging the morphological characteristics (i.e.

VnStylus: A Haptic Stylus With Variable Tip Compliance.

Variable stiffness tools have been shown to be advantageous for ensuring safety and improving stability, dynamic performance and energy efficiency of interaction tasks. In this article, we present the design, mathematical modeling, implementation, characterization and user evaluations of VnStylus, a stylus with hardware-based tip compliance modulation. The stiffness modulation of the stylus tip is achieved through transverse stiffness variations of axially loaded beams.