中文摘要：

设计一种用于微创手术（MIS）的圆锥形内凹面触觉传感器,不仅可以分析接触力,辨别不同软组织的相对硬度,而且能得到软组织的材料参数,进而辨识组织和可能的组织病变。首先,建立传感器与弹性体间的接触模型;然后,根据弹性与粘弹性对应原理建立传感器与粘弹性体的接触模型,解算出剪切模量等参数信息;最后,通过实验验证了该传感器的可行性。

英文摘要：

A tactile sensor with conical concave profile,suitable for minimally invasive surgery （ MIS ） is designed,which can not only analyze contact force and distinguish relative hardness of soft tissues,but also can obtain material parameters of soft tissue,and then identify tissue and tissue lesion. Firstly,contact model between sensor and elastic solid is set up;secondly,contact model between sensor and viscoelastic solid is set up according to correspondence principle between elasticity and viscoelasticity,and shear modulus of the tissue is estimated;finally,the feasibility of the sensor is verified .