Paper Info
Title
A Tactile Sensor with Contact Angle Compensation for Robotic Palpation of Tissue Hardness
Abstract
At present, robot-assisted minimally invasive surgery (RAMIS) has increasingly become the mainstream of operation. In the case of intraoperative tumor palpation with tactile hardness sensors, most existing solutions need to place the sensor normal to the tissue surface. But this requirement cannot always be met due to the limitation of the robot's degree of freedoms and the limited operating space, which causes error in the detected hardness. This paper proposes a piezoelectric tactile sensor that can detect the hardness A even under non-normal contact conditions based on two resonant frequencies (f(RN) and f(RT)) measured in two detection modes - normal and tangential. Since the contact angle theta has opposite effects on the two resonant frequencies, by solving two equations f(N) (A, theta) = f(RN) and f(T) (A, theta) = f(RT), the effect of the contact angle can be eliminated to obtain the compensated hardness. This can improve the accuracy and reliability of tumor palpation in RAMIS.
Year
DOI
Venue
2021
10.1007/978-3-030-89134-3_15
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2021, PT III
Keywords
DocType
Volume
Tactile sensor, Piezoelectric, Hardness detection, Contact angle compensation, Robot-assisted minimally invasive surgery
Conference
13015
ISSN
Citations 
PageRank 
0302-9743
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Yingxuan Zhang101.35
Yan Hong200.68
Chengjun Zhu301.01
Feng Ju455.47