MiniTac：一种用于机器人辅助微创手术中增强触诊的超紧凑8 mm视觉触觉传感器
MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery
AI总结：
提出MiniTac，一种8 mm超紧凑视觉触觉传感器，采用机械响应光子弹性体膜，可无缝集成到Da Vinci等RAMIS设备，通过颜色变化检测表面及深层肿瘤，已在体模和离体组织验证，显著推进RAMIS触觉感知。
摘要：
机器人辅助微创手术（RAMIS）相比传统开腹和腹腔镜方法具有显著优势。然而，RAMIS的一个主要局限是外科医生无法触诊组织，这是一种用于检查组织特性和检测异常的关键技术，这限制了RAMIS的广泛采用。为了克服这一障碍，我们引入了MiniTac，这是一种新型视觉触觉传感器，具有8 mm的超紧凑横截面直径，设计用于无缝集成到主流RAMIS设备中，特别是Da Vinci手术系统。MiniTac采用了一种新型机械响应光子弹性体膜，该膜在不同接触压力下会改变颜色分布。这种颜色变化由嵌入式微型相机捕捉，使MiniTac能够检测通常在内窥镜视野中被遮挡的组织表面和更深层的肿瘤。MiniTac的有效性已在体模和离体组织上进行了严格测试。通过利用先进的机械响应光子材料，MiniTac代表了将触觉感知集成到RAMIS中的重要进展，有可能将其适用性扩展到目前依赖传统手术方法的更广泛的临床场景。
英文摘要：
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of RAMIS is the surgeon's inability to palpate tissues, a crucial technique for examining tissue properties and detecting abnormalities, restricting the widespread adoption of RAMIS. To overcome this obstacle, we introduce MiniTac, a novel vision-based tactile sensor with an ultra-compact cross-sectional diameter of 8 mm, designed for seamless integration into mainstream RAMIS devices, particularly the Da Vinci surgical systems. MiniTac features a novel mechanoresponsive photonic elastomer membrane that changes color distribution under varying contact pressures. This color change is captured by an embedded miniature camera, allowing MiniTac to detect tumors both on the tissue surface and in deeper layers typically obscured from endoscopic view. MiniTac's efficacy has been rigorously tested on both phantoms and ex-vivo tissues. By leveraging advanced mechanoresponsive photonic materials, MiniTac represents a significant advancement in integrating tactile sensing into RAMIS, potentially expanding its applicability to a wider array of clinical scenarios that currently rely on traditional surgical approaches.
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