8毫米超小体积触觉传感器，让机器人手术能摸到深层肿瘤
MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery
- 用光响应弹性膜感知压力变化，颜色随压力改变
- 在模拟组织和离体组织上检测出表面及深层肿瘤
- 适合集成到达芬奇系统，提升微创手术触诊能力
机器人辅助微创手术（RAMIS）相比传统开放和腹腔镜方法具有显著优势，但其主要局限在于外科医生无法进行组织触诊，而触诊是评估组织特性与发现异常的关键技术，限制了RAMIS的广泛应用。为克服这一障碍，我们提出MiniTac，一种基于视觉的超紧凑触觉传感器，横截面直径仅为8 mm，可无缝集成至主流RAMIS设备，特别是达芬奇手术系统。MiniTac采用新型力响应光子弹性膜，接触压力变化时会改变颜色分布，由嵌入式微型相机捕捉，从而实现对组织表面及深层肿瘤的检测，这些区域通常被内窥镜视角遮挡。通过在模型和离体组织上的严格测试验证了其有效性。借助先进的力响应光子材料，MiniTac代表了将触觉传感集成至RAMIS的重要进展，有望拓展其临床应用范围，覆盖目前仍依赖传统手术的多种场景。
原文摘要 · Abstract (English)
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of RAMIS is the surgeon's inability to palpate tissues, a crucial technique for examining tissue properties and detecting abnormalities, restricting the widespread adoption of RAMIS. To overcome this obstacle, we introduce MiniTac, a novel vision-based tactile sensor with an ultra-compact cross-sectional diameter of 8 mm, designed for seamless integration into mainstream RAMIS devices, particularly the Da Vinci surgical systems. MiniTac features a novel mechanoresponsive photonic elastomer membrane that changes color distribution under varying contact pressures. This color change is captured by an embedded miniature camera, allowing MiniTac to detect tumors both on the tissue surface and in deeper layers typically obscured from endoscopic view. MiniTac's efficacy has been rigorously tested on both phantoms and ex-vivo tissues. By leveraging advanced mechanoresponsive photonic materials, MiniTac represents a significant advancement in integrating tactile sensing into RAMIS, potentially expanding its applicability to a wider array of clinical scenarios that currently rely on traditional surgical approaches.
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