Tactile sensing is an emerging technological advancement in surgical robotics in order to analyze interactions between confined tissue environments and instruments based on touch information. The tactile sense of palpation can greatly assist in improving efficiency of the whole practice and hence enhance precision, control, and safety during surgery. This paper explains a distinct proof-of-concept therapeutic payload integrated device equipped with a soft tactile sensor. The tactile sensor was custom-made using flexible piezoresistive materials and conductive ink, wrapped with a biocompatible hydrogel polymer matrix for safer human-tissue interactions. The proposed tactile sensor was then calibrated and its performance was compared with gold standard sensors. It was also tested with a continuous force (5N) for an extended period of time (about 6 hours) to address robustness and repeatability. The sensor showed a sensitivity of 0.833 1/N and a drift of <= 1%. Successful cadaver experiment performed, demonstrates the efficiency of tactile sensing assistance to surgeons and clinicians.

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