組織触診のための可変剛性・動的力覚センサ
Variable Stiffness & Dynamic Force Sensor for Tissue Palpation
光反射を利用してセンサ変形から力を推定する可変剛性・動的レンジ力覚センサを提案し、圧力に応じて剛性と力範囲が増加することを実験で示した。
著者: Abu Bakar Dawood, Zhenyu Zhang, Martin Angelmahr, Alberto Arezzo, Kaspar Althoefer
分類: physics.med-ph, cs.RO
原文アブストラクト
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge. The sensor utilises light reflection to estimate sensor deformation, and from this, the force applied. Experimental testing at different pressures (0, 0.5 and 1 PSI) shows that stiffness and force range increases with pressure. The force calibration results when compared with measured forces produced an average RMSE of 0.016, 0.0715 and 0.1284 N respectively, for these pressures.
