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

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

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

ASJC Scopus subject areas

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

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  • 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 AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1375-1380). [6878274] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878274