Zbyszewski Dinusha, Liu Hongbin, Puangmali Pinyo, Althoefer Kaspar, Nunes Catarina S, Seneviratne Lakmal D, Challacombe Benjamin, Murphy Declan, Dasgupta Prokar
Department of Mechanical Engineering, King's College London, Strand, London WC2R2LS, UK.
Annu Int Conf IEEE Eng Med Biol Soc. 2008;2008:5556-9. doi: 10.1109/IEMBS.2008.4650473.
This paper describes a feasibility study of a novel force sensor that can be used to localise tissue abnormalities and provide tactile feedback to the surgeon during minimally invasive surgery. The proposed sensor makes use of an air-supported rigid ball mounted at the end of a tubular shaft to indent the tissue under investigation. Variations in tissue stiffness which cause changes in position of the ball are measured by using an optical sensing scheme. The sensor enables rapid acquisition of tactile information over large areas of soft tissue. Laboratory experiments were conducted to demonstrate the feasibility of the proposed sensor system. The outcome of the conducted experiments shows similarity to the results from a cylindrical wheel-based force sensor [1] which are shown here for comparative purposes.
本文描述了一种新型力传感器的可行性研究，该传感器可用于在微创手术期间定位组织异常并向外科医生提供触觉反馈。所提出的传感器利用安装在管状轴末端的空气支撑刚性球对被研究组织进行压痕。通过使用光学传感方案来测量导致球位置变化的组织刚度变化。该传感器能够在大面积软组织上快速获取触觉信息。进行了实验室实验以证明所提出的传感器系统的可行性。所进行实验的结果与基于圆柱轮的力传感器[1]的结果相似，此处展示这些结果用于比较目的。
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