A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots
Abstract Minimally invasive surgical robots have received widespread attention due to its numerous advantages. However, the lack of adequate perception capability remains a significant issue for the robots. In this work, a full‐range proximity‐tactile sensing module has been developed for safe opera...
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| Format: | Article |
| Language: | English |
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Wiley
2025-08-01
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| Series: | Advanced Science |
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| Online Access: | https://doi.org/10.1002/advs.202502353 |
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| author | Dongsheng Li Tianci Ji Yuyang Sun Zhongbin Zhang Aomen Li Mengjiao Qu Dongze Lv Jin Xie Huicong Liu |
| author_facet | Dongsheng Li Tianci Ji Yuyang Sun Zhongbin Zhang Aomen Li Mengjiao Qu Dongze Lv Jin Xie Huicong Liu |
| author_sort | Dongsheng Li |
| collection | DOAJ |
| description | Abstract Minimally invasive surgical robots have received widespread attention due to its numerous advantages. However, the lack of adequate perception capability remains a significant issue for the robots. In this work, a full‐range proximity‐tactile sensing module has been developed for safe operation of surgical robots, which performs multimodal fusion perception through ultrasonic sensor for long‐range proximity detection, capacitive sensor for close‐range proximity sensing, and triboelectric sensor for tactile sensing. In order for a minimum sensor size, the ultrasonic sensor is developed based on MEMS piezoelectric micromachined ultrasonic transducers (pMUTs), and the capacitive sensor and triboelectric sensor adopt common structures, which collaborate to achieve accurate proximity‐tactile perception. Additionally, a wireless vibration feedback wristband and digital‐twin interface are developed to provide multimodal feedback without interfering with operation. Experimental results demonstrates the safety enhancement for surgical robots by the perception and feedback system. Furthermore, the sensing module is applied in preliminary detection of subcutaneous abnormal tissues and the identification accuracy based on the ultrasound echoes and convolutional neural networks is 91.6%, which can provide an initial diagnostic reference. The full‐range proximity‐tactile sensor holds significant potential for enhancing the safety and detection capability of surgical robots, and promoting the intelligence of robot‐assisted minimally invasive surgery. |
| format | Article |
| id | doaj-art-a2901f6b04494e13bde05d92fa54ad9e |
| institution | Kabale University |
| issn | 2198-3844 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Science |
| spelling | doaj-art-a2901f6b04494e13bde05d92fa54ad9e2025-08-20T11:56:10ZengWileyAdvanced Science2198-38442025-08-011230n/an/a10.1002/advs.202502353A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical RobotsDongsheng Li0Tianci Ji1Yuyang Sun2Zhongbin Zhang3Aomen Li4Mengjiao Qu5Dongze Lv6Jin Xie7Huicong Liu8School of Mechanical and Electrical EngineeringJiangsu Key Laboratory of Embodied Intelligence Robot TechnologySoochow UniversitySuzhou 215137 ChinaSchool of Mechanical and Electrical EngineeringJiangsu Key Laboratory of Embodied Intelligence Robot TechnologySoochow UniversitySuzhou 215137 ChinaSchool of Mechanical and Electrical EngineeringJiangsu Key Laboratory of Embodied Intelligence Robot TechnologySoochow UniversitySuzhou 215137 ChinaSchool of Mechanical and Electrical EngineeringJiangsu Key Laboratory of Embodied Intelligence Robot TechnologySoochow UniversitySuzhou 215137 ChinaSchool of Mechanical and Electrical EngineeringJiangsu Key Laboratory of Embodied Intelligence Robot TechnologySoochow UniversitySuzhou 215137 ChinaState Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhouZhejiang310027ChinaState Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhouZhejiang310027ChinaState Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhouZhejiang310027ChinaSchool of Mechanical and Electrical EngineeringJiangsu Key Laboratory of Embodied Intelligence Robot TechnologySoochow UniversitySuzhou 215137 ChinaAbstract Minimally invasive surgical robots have received widespread attention due to its numerous advantages. However, the lack of adequate perception capability remains a significant issue for the robots. In this work, a full‐range proximity‐tactile sensing module has been developed for safe operation of surgical robots, which performs multimodal fusion perception through ultrasonic sensor for long‐range proximity detection, capacitive sensor for close‐range proximity sensing, and triboelectric sensor for tactile sensing. In order for a minimum sensor size, the ultrasonic sensor is developed based on MEMS piezoelectric micromachined ultrasonic transducers (pMUTs), and the capacitive sensor and triboelectric sensor adopt common structures, which collaborate to achieve accurate proximity‐tactile perception. Additionally, a wireless vibration feedback wristband and digital‐twin interface are developed to provide multimodal feedback without interfering with operation. Experimental results demonstrates the safety enhancement for surgical robots by the perception and feedback system. Furthermore, the sensing module is applied in preliminary detection of subcutaneous abnormal tissues and the identification accuracy based on the ultrasound echoes and convolutional neural networks is 91.6%, which can provide an initial diagnostic reference. The full‐range proximity‐tactile sensor holds significant potential for enhancing the safety and detection capability of surgical robots, and promoting the intelligence of robot‐assisted minimally invasive surgery.https://doi.org/10.1002/advs.202502353full‐range proximity‐tactile sensormultimodal perceptionpiezoelectric micromachined ultrasonic transducers (pMUTs)robot‐assisted minimally invasive surgery (RMIS)subcutaneous tissue diagnosisvibration feedback |
| spellingShingle | Dongsheng Li Tianci Ji Yuyang Sun Zhongbin Zhang Aomen Li Mengjiao Qu Dongze Lv Jin Xie Huicong Liu A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots Advanced Science full‐range proximity‐tactile sensor multimodal perception piezoelectric micromachined ultrasonic transducers (pMUTs) robot‐assisted minimally invasive surgery (RMIS) subcutaneous tissue diagnosis vibration feedback |
| title | A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots |
| title_full | A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots |
| title_fullStr | A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots |
| title_full_unstemmed | A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots |
| title_short | A Full‐Range Proximity‐Tactile Sensor Based on Multimodal Perception Fusion for Minimally Invasive Surgical Robots |
| title_sort | full range proximity tactile sensor based on multimodal perception fusion for minimally invasive surgical robots |
| topic | full‐range proximity‐tactile sensor multimodal perception piezoelectric micromachined ultrasonic transducers (pMUTs) robot‐assisted minimally invasive surgery (RMIS) subcutaneous tissue diagnosis vibration feedback |
| url | https://doi.org/10.1002/advs.202502353 |
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