Towards Deformation Modeling and Simulation of a Soft and Inflatable Endoscopic Vision-Based Tactile Sensing Balloon for Cancer Diagnosis
Ozdemir Can Kara, Farshid Alambeigi
Abstract
In this study, we introduce a simulation-based modeling framework for the optimal design of our recently developed inflatable endoscopic vision-based tactile sensing balloon (E-VTSB). Of note, E-VTSB is designed for providing a safe and high-resolution textural mapping and morphology characterization of colorectal cancer (CRC) polyps to enhance the early diagnosis of cancerous polyps. Leveraging the Simulation Open Framework Architecture (SOFA) software and by performing complementary experimental validation, we thoroughly analyzed and investigated the impact of the elastic modulus of the material constitution of E-VTSB on its deformation behavior under different applied pressures. Our findings revealed a close correlation between the simulated outcomes and experimental data performed on two different E-VTSBs. In particular, with the maximum absolute deformation error of <12%, our results clearly validated the proposed framework’s accuracy in predicting the E-VTSB’s deformation trend and its potential use for optimizing the design parameters.
BibTeX
@inproceedings{iros2025_towardsdeformati,
title = {Towards Deformation Modeling and Simulation of a Soft and Inflatable Endoscopic Vision-Based Tactile Sensing Balloon for Cancer Diagnosis},
author = {Ozdemir Can Kara and Farshid Alambeigi},
booktitle = {IROS 2025},
year = {2025}
}