A single of MR sponge tactile sensor design for medical applications

摘要

Recently, it is very popular in medical field to adopt robot surgery such as robot-assisted minimally invasive surgery (RMIS). However, there are some problems in the robot surgery. It is very hard to get the touch feeling of the organs during the surgical operation because the surgeons cannot touch and feel repulsive force from the organs directly. So, this work proposes a squeeze mode of single magneto-rheological (MR) sponge to realize viscoelastic property of human organs or skins and undertake a theoretical analysis of MR sponge. In addition, its effectiveness is verified through experimental tests. The similarity between MR sponge and real organs is identified and desired repulsive force of each organs can be achieved by proper selection of MR sponge cell associated with controlled input current.