TY - GEN
T1 - Design of simple structured tactile sensor for the minimally invasive robotic palpation
AU - Hwang, Jung Hoon
AU - Kwon, Joon Ho
AU - Kim, Tae Keun
AU - Hong, Daehie
PY - 2013
Y1 - 2013
N2 - For robotic palpation in minimally invasive surgery (MIS), a simple structured tactile sensor is presented in this paper. Within current MIS, it is not easy to detect abnormal tissue. And it is even more difficult in commercial robotic MIS, since there is no tool which can provide haptic information to surgeons. To enable robotic palpation in MIS, a tactile sensor is designed to have the spatial resolution of the human finger using the micro strain gages. By attaching this sensor to the robotic surgical tools, it is expected that surgeons can perform in-vivo palpation during the MIS. Experimental tests conducted with artificial skin tissues, which have several tumor-like particles, confirm the feasibility of the proposed sensor.
AB - For robotic palpation in minimally invasive surgery (MIS), a simple structured tactile sensor is presented in this paper. Within current MIS, it is not easy to detect abnormal tissue. And it is even more difficult in commercial robotic MIS, since there is no tool which can provide haptic information to surgeons. To enable robotic palpation in MIS, a tactile sensor is designed to have the spatial resolution of the human finger using the micro strain gages. By attaching this sensor to the robotic surgical tools, it is expected that surgeons can perform in-vivo palpation during the MIS. Experimental tests conducted with artificial skin tissues, which have several tumor-like particles, confirm the feasibility of the proposed sensor.
UR - http://www.scopus.com/inward/record.url?scp=84883706160&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84883706160&partnerID=8YFLogxK
U2 - 10.1109/AIM.2013.6584273
DO - 10.1109/AIM.2013.6584273
M3 - Conference contribution
AN - SCOPUS:84883706160
SN - 9781467353199
T3 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
SP - 1296
EP - 1299
BT - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
T2 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Y2 - 9 July 2013 through 12 July 2013
ER -