Abstract: A method and system for controlling a force applied by a tip of a tendon-driven steerable catheter to a tissue of a body part through position control of the catheter. A forward force-contact model determines a desired indentation depth from a desired force and an inverse kinematic model determines a desired configuration of the catheter system based on the desired indentation depth of the tip. A feedback control loop determines an actual indentation depth based on an actual position of the tip within the tip and a position of the tip in free space corresponding to an actual configuration of the catheter and estimates an actual force applied on said tissue based on said actual indentation depth.

Abstract: A sensing element for sensing a mechanical property of a sample defining a sample surface using a contact force exerted the sample surface. The sensing element includes: a deformable element defining a contact surface and a deformable section in register with the contact surface, the deformable section being deformable between an undeformed configuration and a deformed configuration; a deformation sensor operatively coupled to the deformable section for sensing and quantifying a deformation of the deformable section between the deformed and undeformed configurations, the deformation sensor being an optical deformation sensor; and a force sensor operatively coupled to the deformable element for sensing the contact force exerted on the contact surface.

Abstract: A sensing element for sensing a mechanical property of a sample defining a sample surface using a contact force exerted the sample surface. The sensing element includes: a deformable element defining a contact surface and a deformable section in register with the contact surface, the deformable section being deformable between an undeformed configuration and a deformed configuration; a deformation sensor operatively coupled to the deformable section for sensing and quantifying a deformation of the deformable section between the deformed and undeformed configurations, the deformation sensor being an optical deformation sensor; and a force sensor operatively coupled to the deformable element for sensing the contact force exerted on the contact surface.

Abstract: A sensing element for sensing the softness of an object by abutting the sensing element against the object and biasing the sensing element toward the object with a biasing force. The sensing element includes a deformable section, the deformable section being deformable between an undeformed configuration and a deformed configuration, the deformed configuration being achievable when the deformable section is abutted against and biased toward the object; a deformation sensor operatively coupled to the deformable section for sensing a deformation of the deformable section between the deformed and undeformed configurations; and a force sensor operatively coupled to the deformable section for sensing the biasing force exerted onto the deformable section by the object when the deformable section is biased toward the object with the biasing force.

Abstract: A sensing element for sensing a mechanical property of a sample defining a sample surface using a contact force exerted the sample surface. The sensing element includes: a deformable element defining a contact surface and a deformable section in register with the contact surface, the deformable section being deformable between an undeformed configuration and a deformed configuration; a deformation sensor operatively coupled to the deformable section for sensing and quantifying a deformation of the deformable section between the deformed and undeformed configurations, the deformation sensor being an optical deformation sensor; and a force sensor operatively coupled to the deformable element for sensing the contact force exerted on the contact surface.

Abstract: A sensing element for sensing the softness of an object by abutting the sensing element against the object and biasing the sensing element toward the object with a biasing force. The sensing element includes a deformable section, the deformable section being deformable between an undeformed configuration and a deformed configuration, the deformed configuration being achievable when the deformable section is abutted against and biased toward the object; a deformation sensor operatively coupled to the deformable section for sensing a deformation of the deformable section between the deformed and undeformed configurations; and a force sensor operatively coupled to the deformable section for sensing the biasing force exerted onto the deformable section by the object when the deformable section is biased toward the object with the biasing force.