Variable Stiffness & Dynamic Force Sensor for Tissue Palpation
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866929628995649536 |
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| author | Dawood, Abu Bakar Zhang, Zhenyu Angelmahr, Martin Arezzo, Alberto Althoefer, Kaspar |
| author_facet | Dawood, Abu Bakar Zhang, Zhenyu Angelmahr, Martin Arezzo, Alberto Althoefer, Kaspar |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_10239 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Variable Stiffness & Dynamic Force Sensor for Tissue Palpation Dawood, Abu Bakar Zhang, Zhenyu Angelmahr, Martin Arezzo, Alberto Althoefer, Kaspar Medical Physics Robotics 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. |
| title | Variable Stiffness & Dynamic Force Sensor for Tissue Palpation |
| topic | Medical Physics Robotics |
| url | https://arxiv.org/abs/2412.10239 |