基于柔度的传感器布局提升前列腺模型力感知精度
Compliance-Based Sensor Placement for Force Sensing on a Sensorized Prostate Phantom
- 利用有限元仿真构建力-压强/位移响应矩阵，指导传感器部署
- 目标区域重建得分提升22.5%，优于全局QR方法
- 兼顾临床重点区域，适合医疗训练用软体假体设计
本文提出一种基于柔度的传感器布局方法，用于基于数字直肠检查训练的传感器化前列腺假体的力感知。该假体包含三个内部气腔（作为内置压力传感器）和十个表面位移标记。通过在采样表面位置施加外部力，生成有限元仿真数据集，并构建力输入与压强及位移响应之间的柔度矩阵。基于此矩阵，提出一种加权贪心选择策略，在最大化局部力重建能力的同时，优先考虑临床相关的后部接触区域，并避免在感兴趣区域内直接布置标记点。相较于全局QR基放置策略，所提方法使目标区域的平均重建得分提高22.5%。结果表明，区域感知的稀疏传感器布局可提升软体医疗假体中的力可观测性，同时保持有限且实用的传感配置。
原文摘要 · Abstract (English)
This work presents a compliance-based sensor placement method for force sensing on a sensorized prostate phantom designed for Digital Rectal Examination training. The phantom combines three internal pneumatic chambers, used as intrinsic pressure sensors, with ten surface displacement markers. A finite-element simulation dataset is generated by applying external forces at sampled surface locations, from which a compliance matrix relating force inputs to pressure and displacement responses is constructed. Based on this matrix, we propose a weighted greedy selection strategy that maximizes local force reconstructability while prioritizing the clinically relevant posterior contact region and avoiding marker placement directly within the Region of Interest. Compared with a global QR-based placement strategy, the proposed method increases the mean reconstructability score in the target region by 22.5%. These results suggest that region-aware sparse sensor placement can improve force observability in soft robotic medical phantoms while maintaining a limited and practical sensing configuration.
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