Seyed Mohsen Hosseini - M.Sc. student, Amirkabir University of Technology Tehran, Iran، Artificial Tactile Sensing and Robotic Surgery Laboratory, Faculty of Biomedical Engineering
Siamak Najarian - Professor, Amirkabir University of Technology Tehran, Iran، Artificial Tactile Sensing and Robotic Surgery Laboratory, Faculty of Biomedical Engineering
Samira Motaghinasab - B.Sc. student, Amirkabir University of Technology Tehran, Iran، Artificial Tactile Sensing and Robotic Surgery Laboratory, Faculty of Biomedical Engineering
Shahla Torabi - M.Sc. student, Amirkabir University of Technology Tehran, Iran، Artificial Tactile Sensing and Robotic Surgery Laboratory, Faculty of Biomedical Engineering

We proposed a method to investigate the effects of the tumor existence that appear on the surface of the tissue. Finite element analysis provided properties such as the shape, depth, and location of the tumor which are important parameters for physicians to distinguish the correct condition of the patients. Several different cases were created and solved by the software and Tactile Images and Stress Graphs were extracted. These results clearly showed the existence of the tumor in the tissue. Having made an "Artificial Tactile Sensing System" which consists of three main components namely: tactile probe, tactile data processing and tactile display and having performed a number of experiments, we obtained good agreements between the numerical and experimental results. In addition to anticipating the presence of a tumor in the tissue and locating the exact place of the tumor, the experimental results help the user to predict the depth of the tumor inside the tissue.

artificial tactile sensing، finite element analysis