A tactile-sensing apparatus for minimally invasive

 

A tactile‐sensing apparatus for minimally invasive surgery         Human’s finger-tip has a soft, flexible skin to feel the contact force. So A tactile sensing MIS instrument is developed to mimic human’s finger-tip. The elastics cover the surface of the accessory (e.g. forceps), just like the skin covering the bone.

Fig. 1 The principle of the tactile‐sensing apparatus 

 

When tissue of organs is grasped, the elastics will deform. The deformation will be converted into the pressure on the stain gauges (or the movement of indicative object). The signal of pressure (movement) can be used for recognition of the grasping force.

  Fig.2 The schematic graph of the tactile‐sensing apparatus  Two types of implementation:  7

5 2

3

Type I 

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1 6

4

Fig. 3 1- Elastic element

2-rope 3-Indicative objects

  4-sensor 5-The first roller group

6 The second roller group 7- Accessory 8-the elastic element 1

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5

3

Type II  8 2 4

Fig. 4

1- Liquid bladder 2-rope 3-Indicative objects

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4-sensor 5-The first roller group

6 The second roller group 7- Accessory 8- Liquid bladder

 

The structure for ” Type I” mechanism:  When rotational joints work, the cable will bend around the circumference of the roller. But the variation can be  compensated in the algorithm.