MISTac是用于微创手术的高精度视觉触觉传感器，可帮助医生感知组织硬度。
MISTac: A Vision-Based Tactile Sensor for Minimally Invasive Surgery
- 基于视觉原理，通过光学成像捕捉组织形变以实现触觉感知
- 可检测低至24.3 mN的力，分辨率高达250 μm，适配手术孔道
- 已实测可用于体内组织分类，机器学习准确率达84%
微创手术和机器人辅助手术相比传统开放手术具有诸多优势，但剥夺了外科医生的手感反馈与直接触诊能力。为解决这一问题，我们提出MISTac——一种专为微创手术触诊设计的高分辨率视觉触觉传感器。该传感器配备直径8 mm的可更换探头，能通过微创手术使用的穿刺套管。其模块化3D打印外壳支持使用现成的照明与成像设备，便于更换和升级。传感器具备176.68 μm的光学分辨率、250 μm的触觉分辨率，可分辨低至24.3 mN的力。在体实验表明其在微创手术中的可用性。我们利用试验中采集的触觉数据训练机器学习模型，完成组织分类任务，在留一法交叉验证下整体准确率约84%。触觉传感器有望未来助力微创手术中的组织分类或术中肿瘤定位；MISTac是迈向这一目标的重要一步。代码与设计文件已在GitHub开源：https://github.com/lasr-lab/mistac
原文摘要 · Abstract (English)
Minimally invasive and robot-assisted surgery offer many advantages over traditional open surgery, but deprive surgeons of tactile feedback and the ability to palpate tissue with their fingers. To address this lack of tactile feedback, we introduce the MISTac, a high resolution vision-based tactile sensor specifically designed for palpation in MIS. The sensor has a replaceable sensor tip with a diameter of 8 mm which allows it to fit through the trocars used in minimally invasive surgery. Its modular 3D-printed case design allows the use of bulky off-the-shelf illumination and imaging hardware that can easily be exchanged and upgraded. The sensor has an optical resolution of 176.68 $μm$, a tactile resolution of 250 $μm$, and can resolve forces as little as 24.3 mN. An in vivo study with the sensor shows its usability in minimally invasive surgery. We trained a machine learning model with the tactile data collected in the trial on a tissue classification task achieving an aggregate accuracy of ~84% in a leave-one-out cross validation. Tactile sensors have the potential to one day aid surgeons during minimally invasive surgery with tasks such as tissue classification or intra-operative tumor localization; MISTac is a small step towards this vision. We open-source MISTac at https://github.com/lasr-lab/mistac
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