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Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors (2403.05500v4)

Published 8 Mar 2024 in cs.RO

Abstract: Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniature cameras. The associated field of view and focal length, however, are difficult to package in a human-sized finger. In this paper we employ optical fiber bundles to achieve a form factor that, at 15 mm diameter, is smaller than an average human fingertip. The electronics and camera are also located remotely, further reducing package size. The sensor achieves a spatial resolution of 0.22 mm and a minimum force resolution 5 mN for normal and shear contact forces. With these attributes, the DIGIT Pinki sensor is suitable for applications such as robotic and teleoperated digital palpation. We demonstrate its utility for palpation of the prostate gland and show that it can achieve clinically relevant discrimination of prostate stiffness for phantom and ex vivo tissue.

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Summary

  • The paper introduces a novel miniaturization approach that integrates fiber optic bundles with vision-based tactile sensors to overcome size limitations.
  • It details the design, fabrication, and testing of a compact sensor capable of high-resolution tactile imaging and precise force detection.
  • The sensor's performance in differentiating material textures and its successful application in simulated tissue palpation underscore its potential for advanced medical robotics.

Miniaturization of Vision-Based Tactile Sensors through Fiber Optic Bundles

Introduction to Tactile Sensing Innovations

As artificial intelligence and robotics continue to intertwine with medical applications, the demand for precise and versatile tactile sensors grows. In the context of medical robotics, these sensors play a pivotal role in enhancing the dexterity of robotic systems, especially in sensitive tasks such as tissue palpation. A paper conducted by a multidisciplinary team spanning institutions including Stanford University and Meta introduces a novel approach to tactile sensing by leveraging fiber optic bundles to significantly reduce the size of vision-based tactile sensors. This paper, published in the IEEE Transactions On Robotics, details the design, fabrication, and evaluation of the DIGIT Pinki sensor, aiming at applications in medical robotics and beyond.

Design and Fabrication

The paper commences with an exploration of the current landscape of tactile sensing, identifying the limitations posed by size and flexibility in existing technologies. The authors propose a design that encapsulates a vision-based system within a significantly reduced footprint, using fiber optic bundles to transmit tactile information captured by a miniature camera. The innovative design comprises three main components:

  • Sensing Element: Utilizes a deformable surface to capture tactile imprints, which are then conveyed via fiber optic bundles.
  • Imaging System: A compact assembly that includes a camera module capable of receiving the tactile information transmitted through the fiber optic bundles.
  • Illumination System: Ensures consistent lighting for the transmitted images to accurately represent the tactile interaction.

The fabrication process is meticulously detailed, offering insights into the challenges and solutions encountered when miniaturizing components without sacrificing the sensor's fidelity and functionality.

Sensor Characterization

A comprehensive characterization of the sensor's capabilities underlines its performance in terms of resolution, sensitivity, and range. Benchmark tests reveal the sensor's adeptness in capturing high-resolution tactile imprints, asserting its potential utility in precision-demanding applications such as robotic surgery. The sensor's ability to discern varying levels of force and texture provides a strong foundation for sophisticated manipulation tasks.

Practical Applications

The paper validates the sensor's practicality through a series of palpation experiments. Initially, silicone samples of varying hardness are used to simulate tissue consistency, demonstrating the sensor's efficacy in distinguishing subtle differences in material properties. Subsequently, a case paper involving prostate palpation showcases the sensor's potential in medical diagnostics, particularly in identifying tumor-infested tissues.

Theoretical and Future Implications

While the immediate implications of this research accentuate advancements in medical robotics, the theoretical contributions lay a foundation for future explorations in miniaturized tactile sensing. The application of fiber optic bundles in transmitting tactile information opens avenues for further reducing the sensor size, enhancing flexibility, and integrating sensors into a broader range of medical instruments and robotic systems.

Conclusion

This research presents a significant step towards overcoming the size limitations inherent in current vision-based tactile sensors. The miniaturization achieved through the innovative use of fiber optics not only broadens the scope of applications in medical robotics but also sets a precedent for future developments in tactile sensing technology. As the field advances, the integration of such miniaturized sensors in robotic systems promises to enhance their functionality, making them more adept at performing complex tasks with precision and sensitivity akin to human touch.

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Open Problems

  1. Existence of system-level fiber-optic integration for vision-based tactile sensors
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