A novel MRI compatible air-cushion tactile sensor for minimally invasive surgery

D. Zbyszewski, P. Polygerinos, L. D. Seneviratne, K. Althoefer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2647-2652
Number of pages6
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Zbyszewski, D., Polygerinos, P., Seneviratne, L. D., & Althoefer, K. (2009). A novel MRI compatible air-cushion tactile sensor for minimally invasive surgery. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2647-2652). [5354140] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354140