Jones, D orcid.org/0000-0002-2961-8483, Alazmani, A orcid.org/0000-0001-8983-173X and Culmer, P orcid.org/0000-0003-2867-0420 (2019) A Soft Inductive Tactile Sensor for Slip Detection Within a Surgical Grasper Jaw. In: 2019 IEEE SENSORS. 2019 IEEE SENSORS, 27-30 Oct 2019, Montreal, Canada. IEEE ISBN 978-1-7281-1634-1
Abstract
This paper presents a two-axis Soft Inductive Tactile Sensor (SITS) designed for use on the face of a surgical grasper to detect the slip of tissue. A scaled version of the proposed sensor is manufactured and experimentally characterized, showing high repeatability and low hysteresis. The sensor was then used to detect slip while holding a tissue simulant in laboratory conditions. Slip was initiated in 72 cases with different load conditions and the coefficient of friction was recorded. Results showed the sensor capable of detecting slip on a surface comparable to biological soft tissue and has promise for future surgical use. To show the capabilities of the sensor within a grasping environment, the sensor was then configured into a 3.5mm × 8mm footprint to fit into a representative grasper jaw. The grasper was then used to assess the grasping pressure and shear when used by a consultant urologist, yielding similar applied pressure to previous studies showing its capability to measure force within the size constraints of current laparoscopic instruments.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019, IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Mar 2020 12:03 |
Last Modified: | 07 Sep 2020 10:28 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/sensors43011.2019.8956913 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:158023 |