开发可嵌入手术机器人的微型触觉传感器，实现组织硬度实时感知。
PalpAid: Multimodal Pneumatic Tactile Sensor for Tissue Palpation
- 通过气压差与声音信号融合，检测接触力并识别组织类型。
- 能准确区分3D打印硬物（不同填充密度）和活体软组织。
- 结构紧凑易集成，适合现有手术机器人系统升级使用。
组织的触觉特性（如弹性与硬度）在肿瘤识别和病灶边界判定中至关重要。尽管价值极高，机器人辅助手术却因感官信息缺失而受限，视觉成为主要依赖。现有触觉传感器往往体积大、结构复杂，难以融入手术流程。本文提出PalpAid，一种多模态气动触觉传感器，用于恢复机器人手术中的触觉反馈。该传感器集成麦克风与压力传感器，将接触力转化为内部压力差；压力传感器作为事件触发器，声学特征则辅助组织分类。我们展示了传感单元的设计、制造与装配，并进行了耐久性、重复性及与机器人系统集成的测试。最终验证其可对3D打印硬物（不同填充率）和活体软组织进行有效分类。预计PalpAid可便捷集成至现有手术或通用机器人系统，实现软组织触诊功能。
原文摘要 · Abstract (English)
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the cost of reduced sensory information to the surgeon, with vision being the primary. Sensors proposed to overcome this sensory desert are often bulky, complex, and incompatible with the surgical workflow. We present PalpAid, a multimodal pneumatic tactile sensor to restore touch in robot-assisted surgery. PalpAid is equipped with a microphone and pressure sensor, converting contact force into an internal pressure differential. The pressure sensor acts as an event detector, while the acoustic signature assists in tissue identification. We show the design, fabrication, and assembly of sensory units with characterization tests for robustness to use, repetition cycles, and integration with a robotic system. Finally, we demonstrate the sensor's ability to classify 3D-printed hard objects with varying infills and soft ex vivo tissues. We envision PalpAid to be easily retrofitted with existing surgical/general robotic systems, allowing soft tissue palpation.
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