Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniature cameras. The associated field of view and focal length, however, are difficult to package in a human-sized finger. In this paper we employ optical fiber bundles to achieve a form factor that, at 15 mm diameter, is smaller than an average human fingertip. The electronics and camera are also located remotely, further reducing package size. The sensor achieves a spatial resolution of 0.22 mm and a minimum force resolution 5 mN for normal and shear contact forces. With these attributes, the DIGIT Pinki sensor is suitable for applications such as robotic and teleoperated digital palpation. We demonstrate its utility for palpation of the prostate gland and show that it can achieve clinically relevant discrimination of prostate stiffness for phantom and ex vivo tissue.

翻译：近年来，视觉触觉传感器因其低成本、极高的空间分辨率以及利用广泛可得的微型相机易于集成的特点而日益普及。然而，其相关的视场和焦距参数难以封装在人类手指尺寸的空间内。本文采用光纤束实现了一种外形尺寸（直径15毫米）小于人类平均指尖的传感器设计。其电子元件与相机亦被置于远端，进一步减小了封装体积。该传感器实现了0.22毫米的空间分辨率，以及对法向与剪切接触力5毫牛的最小力分辨率。凭借这些特性，DIGIT Pinki传感器适用于机器人及遥操作数字触诊等应用场景。我们展示了其在前列腺触诊中的实用性，并证明该传感器能够在体模及离体组织上实现具有临床意义的前列腺硬度鉴别。