TY - GEN
T1 - A novel MRI compatible air-cushion tactile sensor for minimally invasive surgery
AU - Zbyszewski, D.
AU - Polygerinos, P.
AU - Seneviratne, L. D.
AU - Althoefer, K.
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=76249132581&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2009.5354140
DO - 10.1109/IROS.2009.5354140
M3 - Conference contribution
AN - SCOPUS:76249132581
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 2647
EP - 2652
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -