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Transparent Pneumatic Tactile Sensors for Soft Biomedical Robotics
Sinuo Zhao1, Chi Cong Nguyen2,3, Trung Thien Hoang2,3
1School of Mechanical and Manufacturing Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia.
Sensors (Basel, Switzerland)
|July 8, 2023
Summary
This study introduces a flexible, transparent tactile sensor for minimally invasive surgery. The novel pneumatic sensor enhances tumor detection by measuring tissue stiffness, improving diagnostic accuracy and patient safety.
Area of Science:
- Biomedical Engineering
- Surgical Robotics
- Medical Device Technology
Background:
- Palpation is crucial for differentiating tumors from healthy tissue.
- Miniaturized tactile sensors for endoscopic and robotic devices are essential for precise diagnosis and treatment.
- Current limitations in tactile sensing hinder early tumor detection and advanced surgical interventions.
Purpose of the Study:
- To fabricate and characterize a novel, flexible, and optically transparent tactile sensor.
- To integrate this sensor onto soft surgical endoscopes and robotics for enhanced palpation capabilities.
- To advance early solid tumor detection and the development of integrated soft surgical robots.
Main Methods:
- Development of a novel tactile sensor utilizing a pneumatic sensing mechanism.
- Integration of pneumatic sensing with hydraulic actuation to eliminate electrical wiring at the robot end-effector.
- Characterization of sensor sensitivity, hysteresis, and performance in detecting phantom tissues with varying stiffness (0-2.5 MPa).
Main Results:
- The sensor demonstrated high mechanical flexibility and optical transparency.
- Achieved a high sensitivity of 1.25 mbar with negligible hysteresis.
- Successfully detected phantom tissues with stiffness ranging from 0 to 2.5 MPa.
- Eliminated electrical wiring from the robot end-effector, enhancing system safety.
Conclusions:
- The novel tactile sensor offers precise mechanical palpation and optical feedback capabilities.
- Its unique properties facilitate early solid tumor detection and improve surgical interventions.
- The sensor is suitable for integration into advanced soft surgical robots, enabling all-in-one visual/mechanical feedback and optical therapy.
