Localization of annulus with a tactile sensor

The current paper presents a miniaturized tactile sensor which can be used in robotic-assisted surgery for mitral valve repair. The tactile sensor can localize the position of mitral annulus among the surrounding tissues, leaflet and atrium. The tactile sensor is miniaturized and fabricated on the extremity of a catheter. A test setup is also prepared by using an elastomeric phantom of mitral valve and the results shows that the tactile sensor can distinguish the relative hardness of the annulus from the surrounding tissues.