Abstract
AbstractTo achieve quantitative palpation in vivo, we developed a catheter-type tactile sensor composed of a polyvinylidene fluoride film for minimally invasive surgery. We evaluated the fundamental performance of the prototype sensor by a weight-drop test. We also measured the output of the prototype sensor as it was inserted into a blood vessel model with shapes mimicking lesions. The ø2-mm sensor passed easily into the blood vessel model with lesion-like shapes. Sensor outputs corresponded to the shape of the inner wall of the blood vessel model, making it possible to determine the position of a protrusion and the convexity interval of a rough surface by filtering and frequency analysis of the output.
Funder
JKA's promotion funds from KEIRIN RACE
Nakatani Foundation for Advancement of Measuring Technologies in Biomedical Engineering
Japan Society for the Promotion of Science
Publisher
Springer Science and Business Media LLC
Subject
Artificial Intelligence,Control and Optimization,Mechanical Engineering,Instrumentation,Modelling and Simulation
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