Enhanced tactile sensor for the minimally invasive robotic palpation

Joon Ho Kwon, Jung Hoon Hwang, Jinung An, Gi Hun Yang, Daehie Hong

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

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1375-1380
Number of pages6
ISBN (Print)9781479957361
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: 2014 Jul 82014 Jul 11

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period14/7/814/7/11

Fingerprint

Robotics
Sensors
Tissue
Feedback
Finite element method
Robotic surgery
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Kwon, J. H., Hwang, J. H., An, J., Yang, G. H., & Hong, D. (2014). Enhanced tactile sensor for the minimally invasive robotic palpation. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 1375-1380). [6878274] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878274

Enhanced tactile sensor for the minimally invasive robotic palpation. / Kwon, Joon Ho; Hwang, Jung Hoon; An, Jinung; Yang, Gi Hun; Hong, Daehie.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1375-1380 6878274.

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

Kwon, JH, Hwang, JH, An, J, Yang, GH & Hong, D 2014, Enhanced tactile sensor for the minimally invasive robotic palpation. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 6878274, Institute of Electrical and Electronics Engineers Inc., pp. 1375-1380, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014, Besancon, France, 14/7/8. https://doi.org/10.1109/AIM.2014.6878274
Kwon JH, Hwang JH, An J, Yang GH, Hong D. Enhanced tactile sensor for the minimally invasive robotic palpation. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1375-1380. 6878274 https://doi.org/10.1109/AIM.2014.6878274
Kwon, Joon Ho ; Hwang, Jung Hoon ; An, Jinung ; Yang, Gi Hun ; Hong, Daehie. / Enhanced tactile sensor for the minimally invasive robotic palpation. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1375-1380
@inproceedings{aa2a83089894426e9fd58f24adfdab8e,
title = "Enhanced tactile sensor for the minimally invasive robotic palpation",
abstract = "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.",
author = "Kwon, {Joon Ho} and Hwang, {Jung Hoon} and Jinung An and Yang, {Gi Hun} and Daehie Hong",
year = "2014",
month = "1",
day = "1",
doi = "10.1109/AIM.2014.6878274",
language = "English",
isbn = "9781479957361",
pages = "1375--1380",
booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

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 - 2014/1/1

Y1 - 2014/1/1

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

UR - http://www.scopus.com/inward/citedby.url?scp=84906675663&partnerID=8YFLogxK

U2 - 10.1109/AIM.2014.6878274

DO - 10.1109/AIM.2014.6878274

M3 - Conference contribution

SN - 9781479957361

SP - 1375

EP - 1380

BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

PB - Institute of Electrical and Electronics Engineers Inc.

ER -