Jack (Haoying) Zhou

Jack (Haoying) Zhou

周昊英

he/him

Surgical Robotics Infrastructure, Control,

Simulation and AI

Visiting Graduate Scholar at JHU

Robotics Ph.D. Candidate at WPI

Custom Capacitive Contact Sensor

Johns Hopkins University | 2025

Overview

Design and implementation of a custom capacitive contact sensor to acquire ground truth data for tool-tissue contact detection in surgical robotics research. More details will be shared later, stay tuned!

Before After
Custom Capacitive Contact Sensor. Left: Contact sensor for 3 dVRK PSMs. Right: Contact Sensor Connect to the dVRK controller

Technical Details

  • Leverage Arduino microcontroller to implement the capacitive sensor
  • Seamlessly integrated the sensor with the dVRK controller
  • Implemented signal processing for contact detection
  • Validated sensor performance with tissue phantoms

Integration with dVRK tools

This sensor is used to provide ground truth labels for tool-tissue contact detection.

More details will be added later. Stay tuned!

Description
Instrument wire connection. Non-polar instrument on the left, monopolar in the center, and bipolar on the right. For non-polar instrument, the tool housing is opened and the wire insulation layer is removed for better visualization.

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