Depth-estimation of stiffness singularity in an elastic object via directional touch sensing using microfinger with...

Area of Science:

• Robotics
• Biomedical Engineering
• Surgical Technology

Background:

• Robotic grasping and tactile sensing are crucial for robotics but underutilized in medical diagnosis.
• Current palpation methods in surgery face limitations due to anatomical constraints and access issues.

Purpose of the Study:

• To develop and evaluate a microfinger-based palpation technique for enhanced minimally invasive medical diagnosis.
• To enable robots to detect stiffness singularities in pseudo-biological tissues for improved diagnostic accuracy.

Main Methods:

• Development of a microfinger with artificial muscle and tactile sensors capable of directional palpation and exerting >1 N force.
• Implementation of an algorithm for 3D coordinate estimation of stiffness singularities, surpassing 2D methods.
• Testing touch sensing and depth estimation on silicone gel blocks.

Main Results:

• Achieved touch sensing on silicone gel blocks with depth estimation accuracy of approximately ±1.3 mm at 15 mm depth.
• Demonstrated 3D positional estimation of singular points using the microfinger's directivity.
• Validated the microfinger's capability to detect stiffness singularities.

Conclusions:

• The developed microfinger represents a breakthrough in palpation technology for medical diagnosis.
• This advancement accelerates the development of robotics-based, palpation-driven minimally invasive surgical techniques.