TY - GEN
T1 - Enhanced tactile sensor for the minimally invasive robotic palpation
AU - Kwon, Joon Ho
AU - Hwang, Jung Hoon
AU - An, Jinung
AU - Yang, Gi Hun
AU - Hong, Daehie
PY - 2014
Y1 - 2014
N2 - In this paper, an enhanced tactile sensor is presented which improve sensing accuracy in Minimally Invasive Robotic Surgery (MIRS). Even though many types of tactile sensors have been designed, the detection of abnormal tissue is still not accurate during MIRS. Previous research results showed that a resistive type tactile sensor satisfies requirements such as sensing linearity in each sensing point, high sensitivity and enough spatial resolution, but not independency. In the sensor field, independency is a very important factor for the reliability of sensed signal. To achieve a high quality tactile feedback signal, an enhanced tactile sensor is designed to realize a high independency while maintaining the sensitivity and the linear characteristic of the previous sensor. By using this enhanced sensor, a more accurate tactile signal feedback is expected. Its design was verified through Finite Elements Analysis (FEA) and its applicability to the MIRS was proved through experiments using simulated human tissues.
AB - In this paper, an enhanced tactile sensor is presented which improve sensing accuracy in Minimally Invasive Robotic Surgery (MIRS). Even though many types of tactile sensors have been designed, the detection of abnormal tissue is still not accurate during MIRS. Previous research results showed that a resistive type tactile sensor satisfies requirements such as sensing linearity in each sensing point, high sensitivity and enough spatial resolution, but not independency. In the sensor field, independency is a very important factor for the reliability of sensed signal. To achieve a high quality tactile feedback signal, an enhanced tactile sensor is designed to realize a high independency while maintaining the sensitivity and the linear characteristic of the previous sensor. By using this enhanced sensor, a more accurate tactile signal feedback is expected. Its design was verified through Finite Elements Analysis (FEA) and its applicability to the MIRS was proved through experiments using simulated human tissues.
UR - http://www.scopus.com/inward/record.url?scp=84906675663&partnerID=8YFLogxK
U2 - 10.1109/AIM.2014.6878274
DO - 10.1109/AIM.2014.6878274
M3 - Conference contribution
AN - SCOPUS:84906675663
SN - 9781479957361
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1375
EP - 1380
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -