A new MRI-compatible optical fiber tactile sensor for use in minimally invasive robotic surgery systems

In conventional open surgery, using finger palpation, surgeons can distinguish between different types of tissues. However, in the current commercially available minimally invasive robotic surgery (MIRS) systems, direct tactile feedback is negligible. In the present paper, based on a novel concept, a new bend-type optical fiber tactile sensor is proposed, designed, simulated, fabricated, and tested. In both dynamic and static loading conditions, the proposed tactile sensor measures forces interacting between tissues and surgical tools whether they are distributed contact forces or concentrated contact forces, or even if these forces are in combination. As a result, the sensor can identify the size and the position of blood vessels or of abnormal tissues, one of which could be a tumorous lump within normal tissues. In addition, the static force measurement provided by the sensor allows surgeons to maintain contact stability in any static interactions between surgical tools and tissues while at the same time avoiding tissue damage because of excessive contact force. In the meantime, because the sensor is based uniquely on optical fibers, it is insensitive to electromagnetic fields. As a result, it is compatible with Magnetic Resonance Imaging (MRI) devices, which are currently in widespread use in surgical operating rooms.