A nodal array solver for Robot Assisted Electrical Impedance Sensing.

This paper introduces an algorithm for computing the material's electrical conductivity distribution in a 2.5D setup and presenting the results as nodal array. The presented algorithm is based on a tripolar sensing configuration, and superposition method is used for fusing the sensing information from different nodal combinations. In order to achieve autonomous and optimized measurement procedure, the nodal solver is implemented in the Robot Assisted Electrical Impedance Sensing (RAEIS) system. Both finite element simulation and experiments based on ex vivo pork phantom are carried out for system evaluation. Compared to the previous methods, the reconstruction procedure is fast (0.02 s) with considerably good accuracy ( 81.25%).