Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge. The sensor utilises light reflection to estimate sensor deformation, and from this, the force applied. Experimental testing at different pressures (0, 0.5 and 1 PSI) shows that stiffness and force range increases with pressure. The force calibration results when compared with measured forces produced an average RMSE of 0.016, 0.0715 and 0.1284 N respectively, for these pressures.

翻译：微创手术中人体组织的触诊因操作通道受限而受到阻碍。在本扩展摘要中，我们提出了一种可变刚度与动态力程传感器，该传感器有望解决这一难题。该传感器利用光反射原理来估计传感器形变，进而推算所施加的力。在不同压力（0、0.5及1 PSI）下的实验测试表明，传感器刚度与力程随压力增加而提升。力标定结果与实测力值对比显示，在上述压力条件下平均均方根误差分别为0.016、0.0715和0.1284 N。