NDLI: A medical tactile sensor for measuring tissue hardness in robotic surgical tools

Content Provider	IEEE Xplore Digital Library
Author	Shenshen Zhao Parks, D. Chang Liu
Copyright Year	2011
Description	Author affiliation: MedX Lab, Northwestern University, Evanston, IL, 60208, USA (Shenshen Zhao; Parks, D.; Chang Liu)
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 (θ and σ) 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.
Starting Page	2843
Ending Page	2846
File Size	2140236
Page Count	4
File Format	PDF
ISBN	9781457701573
e-ISBN	9781457701566
DOI	10.1109/TRANSDUCERS.2011.5969397
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Stress Phase measurement Sensitivity Materials Springs robotic surgery Hardness tactile sensor minimal invasive surgery
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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