Abstract
Investigating the mechanical characteristics of tissues can provide answers with regard to distinguishing the difference between a cancerous lump and healthy tissue which, in turn, allows for minimally invasive procedure (MIP). This paper proposes a medical robot with piezoelectric tactile sensors that provide mechanical characteristics of a variety of target objects. A ferromagnetic material was placed inside the robot, and an external magnetic field was used to set the medical robot in motion. Therefore, in order to verify the piezoelectric tactile sensor can provide accurately the mechanical characteristics of target objects in the high magnetic field and conducted experiments. As the experimental results show, three soft material types can be differentiated by the tactile sensor.
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