Bioinspired 3-D Tactile Sensor for Minimally Invasive Surgery

Hu, Yating; Katragadda, R.B.; Tu, Hongen; Zheng, Qinglong; Li, Yuefa; Xu, Yong

doi:10.1109/jmems.2010.2076778

Cited by 45 publications

(20 citation statements)

References 29 publications

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“…In order to cope with this increasingly pressing demand, over the past thirty years many tactile sensors have been proposed (see [7] for an extensive review, up to the year 2010). Even just during the last five years, a considerable number of solutions have been proposed, employing many different technologies: capacitive [8]- [11], optical [12], [13], piezoresistive [14]- [16] (see [17] for a recent review), piezoelectric [18]- [20], ultrasonic [21], magnetic [22]- [24], nanoparticles [25], carbon nanotubes [26], [27], conductive liquids [28]- [30], conductive polymers [31] and tunnel effect [32]. Unfortunately, only a few of these technologies have been tested in actual robots, and therefore it is not easy to evaluate to what extent the data extracted from these sensors is useful for robotic applications.…”

Section: Introductionmentioning

confidence: 99%

Highly Sensitive Soft Tactile Sensors for an Anthropomorphic Robotic Hand

et al. 2015

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The paper describes the design and realization of novel tactile sensors based on soft materials and magnetic sensing. In particular, the goal was to realize i) soft, ii) robust, iii) small and iv) low-cost sensors that can be easily fabricated and integrated on robotic devices that interact with the environment; we targeted a number of desired features, the most important being v) high sensitivity, vi) low hysteresis and vii) repeatability. The sensor consists of a silicone body in which a small magnet is immersed; an Hall-effect sensor placed below the silicone body measures the magnetic field generated by the magnet, which changes when the magnet is displaced due to an applied external pressure. Two different versions of the sensor have been manufactured, characterized and mounted on an anthropomorphic robotic hand; experiments in which the hand interacts with real world objects are reported.

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Section: Introductionmentioning

confidence: 99%

Highly Sensitive Soft Tactile Sensors for an Anthropomorphic Robotic Hand

et al. 2015

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“…Different force sensors and probes have been developed for laparoscopic surgery and intraoperative diagnostics [ 13 ]. In [ 14 ], a micro-sensor composed of a central silicon post and a piezoresistor-embedded polyimide diaphragm was developed. New trends in medical robotics suggest new methods that enable sensor-less haptic teleoperation [ 15 ], which are still under development.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Sensor Configurations for Robotic Surgical Instruments

Gómez-de-Gabriel

Harwin

2015

Sensors

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Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included.

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“…Tactile sensors have been added to surgical tools for real-time haptic feedback [10][11][12]. Force sensors combined with endoscopes have been utilized to monitor contact to protect nearby soft tissues [13][14][15]. These tactile sensors provide information on the contact force, pressure, or friction.…”

Section: Introductionmentioning

confidence: 99%

Application of Video-Assisted Tactile Sensor and Finite Element Simulation for Estimating Young’s Modulus of Porcine Liver

et al. 2015

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Surgeons use palpation for tasks such as the identification of biological tissues and the localization of blood vessels and boundaries of local inclusions. Human tissues are unavailable for palpation during laparoscopic operations. A device that can help surgeons distinguish different soft tissues is thus desirable. This study proposes an approach for palpation that uses a self-developed video-assisted tactile sensor. The sensing device, which consists of a video camera, a force sensor, and a semispherical head made of polydimethylsiloxane, can measure the contact area and load on an object. A numerical simulation of the indentation process was performed based on the finite element method. The bisection method was used to estimate the Young's modulus of the object by fitting the results of the simulation to the experimental contact area and load. Fresh porcine livers were used to represent soft tissues to verify the approach. Force control was used in the tests and calculations. The average Young's modulus of the fresh porcine livers was 1.1 kPa. To simulate altered tissue, the porcine liver was boiled. The results showed that the modulus of the boiled livers was 25 times higher than that of the fresh porcine livers. Therefore, the proposed approach can distinguish normal tissue from altered tissue, and is thus feasible for palpation.

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Bioinspired 3-D Tactile Sensor for Minimally Invasive Surgery

Cited by 45 publications

References 29 publications

Highly Sensitive Soft Tactile Sensors for an Anthropomorphic Robotic Hand

Highly Sensitive Soft Tactile Sensors for an Anthropomorphic Robotic Hand

Evaluation of Sensor Configurations for Robotic Surgical Instruments

Application of Video-Assisted Tactile Sensor and Finite Element Simulation for Estimating Young’s Modulus of Porcine Liver

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