A piezoresistive based tactile sensor for use in minimally invasive surgery

In the present paper, a novel tactile sensor is proposed for use in minimally invasive surgery to provide surgeons with tactile information. The sensing element of the sensor relies on a piezoresistive material. The proposed sensor measures contact force as well as the relative hardness of soft contact objects. A prototype of the sensor has been built, calibrated, and tested. Experimental test results confirm the ability of the sensor to distinguish between two different elastomeric materials. Such materials resemble two different biological tissues.