{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T20:06:06Z","timestamp":1790625966473,"version":"4.1.0"},"reference-count":30,"publisher":"SPIE-Intl Soc Optical Eng","issue":"8","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Biomed. Opt."],"published-print":{"date-parts":[[2012,8,8]]},"abstract":"<jats:p>During conventional surgical tasks, surgeons use their tactile perception in their finger tips to sense the degree of softness of biological tissues to identify tissue types and to feel for any abnormalities. However, in robotic-assisted surgical systems, surgeons are unable to sense this information because only surgical tools interact with tissues. In order to provide surgeons with such useful tactile perception, therefore, a tactile sensor is required that is capable of simultaneously measuring contact force and resulting tissue deformation. Accordingly, this paper discusses the design, prototyping, testing, and validation of an innovative tactile sensor that is capable of measuring the degree of softness of soft objects such as tissues under both static and dynamic loading conditions and which is also magnetic resonance compatible and electrically passive. These unique characteristics of the proposed sensor would also make it a practical choice for use in robotic-assisted surgical platforms. The prototype version of this sensor was developed by using optical micro-systems technology and, thus far, experimental test results performed on the prototyped sensor have validated its ability to measure the relative softness of artificial tissues.<\/jats:p>","DOI":"10.1117\/1.jbo.17.8.081416","type":"journal-article","created":{"date-parts":[[2012,8,8]],"date-time":"2012-08-08T18:07:38Z","timestamp":1344449258000},"page":"1-9","source":"Crossref","is-referenced-by-count":9,"title":["Innovative optical microsystem for static and dynamic tissue diagnosis in minimally invasive surgical operations"],"prefix":"10.1117","volume":"17","author":[{"given":"Roozbeh","family":"Ahmadi","sequence":"first","affiliation":[{"name":"Concordia Univ."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Muthukumaran","family":"Packirisamy","sequence":"additional","affiliation":[{"name":"Concordia Univ."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Javad","family":"Dargahi","sequence":"additional","affiliation":[{"name":"Concordia Univ."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"189","reference":[{"key":"10.1117\/1.JBO.17.8.081416_r1","doi-asserted-by":"publisher","DOI":"10.1016\/S0090-4295(01)01423-6"},{"key":"10.1117\/1.JBO.17.8.081416_r2","doi-asserted-by":"publisher","DOI":"10.1111\/codi.2011.13.issue-s7"},{"key":"10.1117\/1.JBO.17.8.081416_r3","doi-asserted-by":"crossref","first-page":"46","DOI":"10.3109\/13645706.2011.627924","volume":"21","author":"Tang","year":"2012","journal-title":"Minimally Invasive Therapy Allied Technol.","ISSN":"https:\/\/id.crossref.org\/issn\/1364-5706","issn-type":"print"},{"key":"10.1117\/1.JBO.17.8.081416_r4","doi-asserted-by":"publisher","DOI":"10.1111\/jce.2009.20.issue-4"},{"key":"10.1117\/1.JBO.17.8.081416_r5","doi-asserted-by":"crossref","unstructured":"Bozovic, Vanja ,\n                      Medical Robotics\n                      , I-Tech Education and Publishing, Vienna, Austria, 491\u2013498 (2008).","DOI":"10.5772\/53"},{"key":"10.1117\/1.JBO.17.8.081416_r6","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1109\/TOH.2009.4","volume":"2","author":"King","year":"2009","journal-title":"IEEE Trans. Haptic"},{"key":"10.1117\/1.JBO.17.8.081416_r7","unstructured":"Burdea, G. C. ,\n                      Force and Touch Feedback for Virtual Reality\n                      , pp. 3\u20134, John Wiley & Sons, Inc., New York, NY (1996)."},{"key":"10.1117\/1.JBO.17.8.081416_r8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909101136"},{"key":"10.1117\/1.JBO.17.8.081416_r9","doi-asserted-by":"crossref","first-page":"299","DOI":"10.1007\/978-3-642-03906-5_82","volume":"25","author":"Kuebler","year":"2009","journal-title":"Proc. IFMBE"},{"key":"10.1117\/1.JBO.17.8.081416_r10","doi-asserted-by":"publisher","DOI":"10.1080\/13645700600674179"},{"key":"10.1117\/1.JBO.17.8.081416_r11","unstructured":"Chinzeiand, K. and K. Miller , \u201cMRI guided surgical robot,\u201d in Proc. 2001 Australian Conf. on Robotics and Automation, pp. 50\u201355, Australian Robotics & Automation Association Inc. (ARAA), Sydney (2001)."},{"key":"10.1117\/1.JBO.17.8.081416_r12","unstructured":"Chinzei, K., R. Kikinis and F. A. Jolesz , \u201cMR compatibility of mechatronic devices: design criteria,\u201d in Proc. 2nd Int. Conf. Med. Image Computing and Computer-Assisted Intervention, pp. 1020\u20131031, Springer, Berlin Heidelberg (1999)."},{"key":"10.1117\/1.JBO.17.8.081416_r13","unstructured":"Yuen, S. G. et al., \u201cRobotic force stabilization for beating heart intracardiac surgery,\u201d in Proc. 12th Int. Conf. Med. Image Computing and Computer-Assisted Intervention: part I, pp. 26\u201333, Springer, Berlin Heidelberg (2009)."},{"key":"10.1117\/1.JBO.17.8.081416_r14","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2008.917481"},{"key":"10.1117\/1.JBO.17.8.081416_r15","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2009.06.003"},{"key":"10.1117\/1.JBO.17.8.081416_r16","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.892831"},{"key":"10.1117\/1.JBO.17.8.081416_r17","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2004.04.057"},{"key":"10.1117\/1.JBO.17.8.081416_r18","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2009.2025586"},{"key":"10.1117\/1.JBO.17.8.081416_r19","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/16\/4\/006"},{"key":"10.1117\/1.JBO.17.8.081416_r20","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.v7.4"},{"key":"10.1117\/1.JBO.17.8.081416_r21","doi-asserted-by":"crossref","unstructured":"Kalantari, M. et al., \u201cDesign, fabrication, and testing of a piezoresistive hardness sensor in minimally invasive surgery,\u201d in Proc. IEEE Haptics Symp., pp. 431\u2013437, IEEE, Waltham, Massachusetts (2010).","DOI":"10.1109\/HAPTIC.2010.5444620"},{"key":"10.1117\/1.JBO.17.8.081416_r22","doi-asserted-by":"crossref","unstructured":"Heijmans, J. A. C., L. K. Cheng and F. P. Wieringa , \u201cOptical fiber sensors for medical applications-practical engineering considerations,\u201d in Proc. 4th European Conf. of the International Federation for Medical and Biological Engineering (IFMBE), pp. 2330\u20132334, Springer, Berlin Heidelberg (2008).","DOI":"10.1007\/978-3-540-89208-3_559"},{"key":"10.1117\/1.JBO.17.8.081416_r23","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2010.2043732"},{"key":"10.1117\/1.JBO.17.8.081416_r24","doi-asserted-by":"crossref","unstructured":"Puangmali, P. et al., \u201cMiniaturized triaxial optical fiber force sensor for MRI-guided minimally invasive surgery,\u201d in Proc. 2010 IEEE International Conference on Robotics and Automation, pp. 2592\u20132597, IEEE, Alaska (2010).","DOI":"10.1109\/ROBOT.2010.5509807"},{"key":"10.1117\/1.JBO.17.8.081416_r25","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1161\/CIRCEP.108.803650","volume":"1","author":"Yokoyama","year":"2008","journal-title":"Circ.-Arrhythmia Electrophysiol."},{"key":"10.1117\/1.JBO.17.8.081416_r26","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2009.2039570"},{"key":"10.1117\/1.JBO.17.8.081416_r27","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2011.2113394"},{"key":"10.1117\/1.JBO.17.8.081416_r28","doi-asserted-by":"publisher","DOI":"10.1007\/BF00619826"},{"key":"10.1117\/1.JBO.17.8.081416_r29","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(02)00401-6"},{"key":"10.1117\/1.JBO.17.8.081416_r30","unstructured":"Beerand, F. P. and E. R. Johnston ,\n                      Mechanics of Materials\n                      , pp. 396\u2013429, McGraw-Hill, New York (1981)."}],"container-title":["Journal of Biomedical Optics"],"original-title":[],"link":[{"URL":"https:\/\/www.spiedigitallibrary.org\/journals\/journal-of-biomedical-optics\/volume-17\/issue-8\/081416\/Innovative-optical-microsystem-for-static-and-dynamic-tissue-diagnosis-in\/10.1117\/1.JBO.17.8.081416.full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T19:43:32Z","timestamp":1790624612000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.spiedigitallibrary.org\/journals\/journal-of-biomedical-optics\/volume-17\/issue-8\/081416\/Innovative-optical-microsystem-for-static-and-dynamic-tissue-diagnosis-in\/10.1117\/1.JBO.17.8.081416.full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,8,8]]},"references-count":30,"journal-issue":{"issue":"8"},"URL":"https:\/\/doi.org\/10.1117\/1.jbo.17.8.081416","relation":{},"ISSN":["1083-3668","1560-2281"],"issn-type":[{"value":"1083-3668","type":"print"},{"value":"1560-2281","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,8,8]]}}}