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. 2022 Jan 7;8:705662. doi: 10.3389/frobt.2021.705662

FIGURE 3.

FIGURE 3

Optical-based tactile sensors for MIS. (A) Schematic of the micro/nanofibers (MNF)-embedded compact tactile sensor. (B) Response of the sensor as intensity curves corresponding to the adductor muscle of fresh mussel meat and pork liver at a pressing depth of 400 μm (Tang et al., 2021). Reprinted with permission. Copyright (2021) American Chemical Society. (C) Detailed sensor design of the developed fiber optics tactile array showing one fiber bundle for transmitting light and a second one for receiving light at each sensing unit (Xie et al., 2013b). (D) Schematic of the operation of the proposed tactile probe head. (E) Actual image of the probe head prototype passing through a trocar port. (F) Demonstration of the force feedback from the MRI-compatible tactile probe head (Xie et al., 2014). © 2014 IEEE. Reprinted, with permission. (G) Schematic of the ellipse shape probe utilizing optical tactile array and the camera acquisition system (Back et al., 2015). © 2015 IEEE. Reprinted, with permission.