A novel MRI compatible air-cushion tactile sensor for Minimally Invasive Surgery

This paper presents a novel air-cushion tactile sensor for minimally invasive surgery that is fully MRI (magnetic resonance imaging) compatible. The proposed sensor is designed to detect tissue abnormalities within soft tissue surfaces. This is achieved by rolling over soft tissue in a virtually fri...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2647 - 2652
Main Authors Zbyszewski, D., Polygerinos, P., Seneviratne, L.D., Althoefer, K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Biological tissues
Force feedback
Haptic interfaces
Magnetic resonance imaging
Magnetic sensors
Mechanical sensors
Minimally invasive surgery
Probes
Robot kinematics
Tactile sensors
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ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5354140

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Summary:This paper presents a novel air-cushion tactile sensor for minimally invasive surgery that is fully MRI (magnetic resonance imaging) compatible. The proposed sensor is designed to detect tissue abnormalities within soft tissue surfaces. This is achieved by rolling over soft tissue in a virtually frictionless manner due to the design of the sensor in which the sensing element, a sphere, rests on a cushion of air. This design allows for rapid acquisition of tactile and mechanical properties of large areas of soft tissue. Laboratory experiments are carried out to show its feasibility as a tactile sensor for MIS and its behaviour under loading. The outcomes of the experiments illustrate the sensor's capability and potential as a tactile sensor for MIS. These results are discussed and future work is outlined.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354140