@inproceedings{806f469ec7684a648a2f38b678585954,
title = "A medical tactile sensor for measuring tissue hardness in robotic surgical tools",
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.",
keywords = "Hardness, minimal invasive surgery, robotic surgery, tactile sensor",
author = "Shenshen Zhao and David Parks and Chang Liu",
year = "2011",
doi = "10.1109/TRANSDUCERS.2011.5969397",
language = "English (US)",
isbn = "9781457701573",
series = "2011 16th International Solid-State Sensors, Actuators and Microsystems Conference, TRANSDUCERS'11",
pages = "2843--2846",
booktitle = "2011 16th International Solid-State Sensors, Actuators and Microsystems Conference, TRANSDUCERS'11",
note = "2011 16th International Solid-State Sensors, Actuators and Microsystems Conference, TRANSDUCERS'11 ; Conference date: 05-06-2011 Through 09-06-2011",
}