A medical tactile sensor for measuring tissue hardness in robotic surgical tools

Shenshen Zhao*, David Parks, Chang Liu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

We report a hardness sensor for non-intrusive characterization of tissue hardness in robotic surgical systems. The MEMS-based hardness sensor we developed is able to measure within a hardness range of 0.3 - 360psi based on normal contact, realizing excellent ability to distinguish certain biological samples. To our knowledge, such wide dynamic range and capability of bio-tissue recognition have not been experimentally demonstrated in the past. The tandem spring design of the sensor is implemented using a novel direct silicon-PCB packaging scheme recently developed by our group. We also discovered that two underlying control parameters (θand σr) determine the sensor's performance. Further, we developed a 2-phase measurement scheme to achieve both wide range and high sensitivity for various hardness samples.

Original languageEnglish (US)
Title of host publication2011 16th International Solid-State Sensors, Actuators and Microsystems Conference, TRANSDUCERS'11
Pages2843-2846
Number of pages4
DOIs
StatePublished - Sep 1 2011
Event2011 16th International Solid-State Sensors, Actuators and Microsystems Conference, TRANSDUCERS'11 - Beijing, China
Duration: Jun 5 2011Jun 9 2011

Other

Other2011 16th International Solid-State Sensors, Actuators and Microsystems Conference, TRANSDUCERS'11
CountryChina
CityBeijing
Period6/5/116/9/11

Keywords

  • Hardness
  • minimal invasive surgery
  • robotic surgery
  • tactile sensor

ASJC Scopus subject areas

  • Hardware and Architecture
  • Electrical and Electronic Engineering

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