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Depth-estimation of stiffness singularity in an elastic object via directional touch sensing using microfinger with tactile sensor.

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Název: Depth-estimation of stiffness singularity in an elastic object via directional touch sensing using microfinger with tactile sensor.
Autoři: Hori Y; Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan. rm0173fs@ed.ritsumei.ac.jp., Konishi S; Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan. konishi@se.ritsumei.ac.jp.; Department of Mechanical Engineering, Ritsumeikan University, Shiga, Japan. konishi@se.ritsumei.ac.jp.; Ritsumeikan Advanced Research Academy, Kyoto, Japan. konishi@se.ritsumei.ac.jp.; Ritsumeikan Global Innovation Research Organization, Kyoto, Japan. konishi@se.ritsumei.ac.jp.
Zdroj: Scientific reports [Sci Rep] 2025 Nov 25; Vol. 15 (1), pp. 41852. Date of Electronic Publication: 2025 Nov 25.
Způsob vydávání: Journal Article
Jazyk: English
Informace o časopise: Publisher: Nature Publishing Group Country of Publication: England NLM ID: 101563288 Publication Model: Electronic Cited Medium: Internet ISSN: 2045-2322 (Electronic) Linking ISSN: 20452322 NLM ISO Abbreviation: Sci Rep Subsets: MEDLINE
Imprint Name(s): Original Publication: London : Nature Publishing Group, copyright 2011-
Výrazy ze slovníku MeSH: Touch*/physiology , Palpation*/methods , Palpation*/instrumentation , Robotics*/instrumentation , Robotics*/methods, Humans ; Algorithms ; Fingers/physiology ; Robotic Surgical Procedures/instrumentation ; Robotic Surgical Procedures/methods ; Elasticity
Abstrakt: Competing Interests: Declarations. Competing interests: The authors declare no competing interests.
Understanding object information during robotic hand grasping is a key goal in robotics. Researchers have integrated tactile sensors to replicate artificial haptics on humanoid robot fingertips, but robotic grasping has yet to be fully applied in palpation-based medical diagnosis. Current techniques, such as vibration-based ultrasound-assisted surgeries, face limitations in diagnosis due to anatomical constraints or surgical access issues. To address this, we explored palpation-assisted surgeries using a microfinger, a miniaturized version of a human finger. We developed micromachine-based palpation techniques for advanced minimally invasive diagnosis using endoscopes. Specifically, we developed a microfinger with artificial muscle and tactile sensors, designed to detect stiffness singularities in pseudo-biological tissues. Our microfinger, thin and small, exerted a pushing force greater than 1 N and performed directional palpation. Next, we proposed an algorithm for estimating three-dimensional coordinates, thus transcending the existing two-dimensional singularity-estimation method. Consequently, we achieved touch sensing on silicone gel blocks using a small rigid ball, with depth-estimation of approximately ± 1.3 mm at a depth of 15 mm. The directivity of the microfinger enabled three-dimensional positional estimation of the singular point. We present a breakthrough for microfinger-based palpation technology for medical diagnosis, accelerating the advancement of robotics-based palpation-driven minimally invasive techniques.
(© 2025. The Author(s).)
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Grant Information: JP23ym0126808 Kyoto University in the Translational Research Program from AMED; JP23ym0126808 Kyoto University in the Translational Research Program from AMED; JPMJSP2101 JST SPRING
Entry Date(s): Date Created: 20251125 Date Completed: 20251125 Latest Revision: 20251128
Update Code: 20251128
PubMed Central ID: PMC12647895
DOI: 10.1038/s41598-025-25774-y
PMID: 41290780
Databáze: MEDLINE
Popis
Abstrakt:Competing Interests: Declarations. Competing interests: The authors declare no competing interests.<br />Understanding object information during robotic hand grasping is a key goal in robotics. Researchers have integrated tactile sensors to replicate artificial haptics on humanoid robot fingertips, but robotic grasping has yet to be fully applied in palpation-based medical diagnosis. Current techniques, such as vibration-based ultrasound-assisted surgeries, face limitations in diagnosis due to anatomical constraints or surgical access issues. To address this, we explored palpation-assisted surgeries using a microfinger, a miniaturized version of a human finger. We developed micromachine-based palpation techniques for advanced minimally invasive diagnosis using endoscopes. Specifically, we developed a microfinger with artificial muscle and tactile sensors, designed to detect stiffness singularities in pseudo-biological tissues. Our microfinger, thin and small, exerted a pushing force greater than 1 N and performed directional palpation. Next, we proposed an algorithm for estimating three-dimensional coordinates, thus transcending the existing two-dimensional singularity-estimation method. Consequently, we achieved touch sensing on silicone gel blocks using a small rigid ball, with depth-estimation of approximately ± 1.3 mm at a depth of 15 mm. The directivity of the microfinger enabled three-dimensional positional estimation of the singular point. We present a breakthrough for microfinger-based palpation technology for medical diagnosis, accelerating the advancement of robotics-based palpation-driven minimally invasive techniques.<br /> (© 2025. The Author(s).)
ISSN:2045-2322
DOI:10.1038/s41598-025-25774-y