1P1-G07 生体組織触覚性状を測定するセンサシステムの開発

抄録

We report the development of a tactile sensor for evaluation the tactile properties of biological soft tissues aiming at palpation of breast cancer, and low invasive endoscopic robotic applications. PVDF (Polyvinylidene difluoride) film and PSCR (pressure sensitive conductive rubber) are used as sensitive receptors in the sensor. The sensor is driven by a motor-crank mechanism to apply an oscillatory stress to the object to be evaluated. Both time-domain and frequency-domain parameters of the sensor output for the evaluation of the hardness and thickness of the object were discussed in the paper. The sensor system was further testified using a palpation model of breast cancer. Experiment results show that it is possible to discriminate pathological tissue from normal tissue using the sensor.