A Piezoelectric Tactile Sensor for Tissue Stiffness Detection with Arbitrary Contact Angle.
A Piezoelectric Tactile Sensor for Tissue Stiffness Detection with Arbitrary Contact Angle.
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DOI：
10.3390/s20226607
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发表时间：
2020-11-18
期刊：
影响因子：
--
通讯作者：
Wang Y
中科院分区：
文献类型：
--
作者：
Zhang Y;Ju F;Wei X;Wang D;Wang Y
提出了一种用于机器人辅助微创手术中组织硬度检测的压电式触觉传感器。它不仅可以在探头垂直于组织表面的情况下检测刚度，还可以在探头与法向存在接触角的情况下检测刚度。它解决了现有传感器只能在法线方向上检测的问题，保证了手术器械自由度有限时的检测精度。当接触角在[0°，45°]范围内变化时，该传感器可以区分不同硬度的样品，并能有效地识别肿块和正常组织。这些都是通过建立新的检测模型和传感器优化来实现的。通过对传感器参数的设计和优化，推导出接触角对刚度检测的影响。通过仿真和实验验证了该传感器的检测性能。使用了5个不同刚度的样本(包括接近刚度的块状样本和正常样本)。通过仿真盲识别测试，随机选取接触角在30°以内时识别率为100%，在45°范围内识别率为94.1%，比未优化的传感器识别率提高了38.7%。通过实验中的盲分类测试和自动k-均值聚类，当接触角在45°内随机选取时，正确率为92%。实验结果表明，该传感器能够很好地识别不同刚度的样品，具有较高的精度，在医学领域具有广阔的应用前景。
In this paper, a piezoelectric tactile sensor for detecting tissue stiffness in robot-assisted minimally invasive surgery (RMIS) is proposed. It can detect the stiffness not only when the probe is normal to the tissue surface, but also when there is a contact angle between the probe and normal direction. It solves the problem that existing sensors can only detect in the normal direction to ensure accuracy when the degree of freedom (DOF) of surgical instruments is limited. The proposed senor can distinguish samples with different stiffness and recognize lump from normal tissue effectively when the contact angle varies within [0°, 45°]. These are achieved by establishing a new detection model and sensor optimization. It deduces the influence of contact angle on stiffness detection by sensor parameters design and optimization. The detection performance of the sensor is confirmed by simulation and experiment. Five samples with different stiffness (including lump and normal samples with close stiffness) are used. Through blind recognition test in simulation, the recognition rate is 100% when the contact angle is randomly selected within 30°, 94.1% within 45°, which is 38.7% higher than the unoptimized sensor. Through blind classification test and automatic k-means clustering in experiment, the correct rate is 92% when the contact angle is randomly selected within 45°. We can get the proposed sensor can easily recognize samples with different stiffness with high accuracy which has broad application prospects in the medical field.
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