To achieve quantitative palpation in vivo, we developed a catheter-type tactile sensor composed of a polyvinylidene fluoride film for minimally invasive surgery. We evaluated the fundamental performance of the prototype sensor by a weight-drop test. We also measured the output of the prototype sensor as it was inserted into a blood vessel model with shapes mimicking lesions. The ø2-mm sensor passed easily into the blood vessel model with lesion-like shapes. Sensor outputs corresponded to the shape of the inner wall of the blood vessel model, making it possible to determine the position of a protrusion and the convexity interval of a rough surface by filtering and frequency analysis of the output.

中文翻译：

---

聚偏二氟乙烯（PVDF）薄膜组成的导管式触觉传感器的研制

为了实现体内定量触诊，我们开发了一种由聚偏二氟乙烯薄膜组成的导管型触觉传感器，用于微创手术。我们通过重量测试评估了原型传感器的基本性能。我们还测量了将原型传感器插入形状类似病变的血管模型中时的输出。直径为2毫米的传感器很容易进入具有病变形状的血管模型。传感器输出与血管模型的内壁形状相对应，从而可以通过对输出进行滤波和频率分析来确定突起的位置和粗糙表面的凸度间隔。