The Hamlyn Symposium on Medical Robotics 2022: 26th-29th June 2022
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Soft Multimodal Sensor With Adjustable Force Sensing Range For Soft Tissue Palpation

Motivation

  • Surgical robots lack direct tactile feedback, resulting in decreased tumor edge detection.
  • Current sensors are hard tipped, increasing tissue damage.
  • Current sensors are not adaptable, decreasing usability.

Aims:

  • To analyse the force sensing performance of a soft multimodal sensor.
  • To demonstrate the sensor’s force sensing range and sensitivity can be adjusted by changing its internal pressure.
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Soft Multimodal Sensor With Adjustable Force Sensing Range For Soft Tissue Palpation

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