Flexible Elastoresistive Tactile Sensor for Minimally Invasive Surgery

Authors:
Pauwel Goethals;Mauro M. Sette;Dominiek Reynaerts;Hendrik Brussel
Affiliations:
Div. Production Engineering, Machine Design and Automation, K.U. Leuven, Heverlee, Belgium 3001;Div. Biomechanics and Engineering Design, K.U. Leuven, Heverlee, Belgium 3001;Div. Production Engineering, Machine Design and Automation, K.U. Leuven, Heverlee, Belgium 3001;Div. Production Engineering, Machine Design and Automation, K.U. Leuven, Heverlee, Belgium 3001
Venue:
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Year:
2008

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Abstract

In minimally invasive surgery, tactile feedback is lacking. An elastoresistive tactile sensor is designed to feel inside the body of the patient. The sensor is thin, flexible, robust, cheap, and has a simple structure. It has 16×16 elements, a spatial resolution of 1 mm and a bandwidth of 78 Hz. Despite a large hysteresis and non-linear behaviour, the sensor is very well suited for a qualitative measurement of the pressure distribution, with a high resolution in position, force and time.