Prostate Tumor Palpation Simulator Based on Pneumatic and Augmented Haptics

Abstract

In this project, we focus on building a prostate palpation simulator where a practitioner teaches his/herself a process called Digital Rectal Examination (DRE). While conventional mock-up-based training simulators can only provide a fixed number of abnormal conditions, our simulator is capable of creating various prostate abnormalities ranged from a single small tumor to multiple larger tumors, with comparable fidelity and realism. For this, we have developed a new prostate-shaped end-effector that systematically changes the its shape and stiffness using pneumatic and particle jamming techniques with embedded balloon. At current stage, seven pores are embedded in the silicone prostate mock-up, so a medical practitioner can perceive tumors with wide range of stiffness, position, and number.