Computational optical palpation: A finiteelement approach to micro-scale tactile imaging using a compliant sensor

High-resolution tactile imaging, superior to the sense of touch, has potential for future biomedical applications such as robotic surgery. In this paper, we propose a tactile imaging method, termed computational optical palpation, based on measuring the change in thickness of a thin, compliant layer with optical coherence tomography and calculating tactile stress using finiteelement analysis. We demonstrate our method on test targets and on freshly excised human breast fibroadenoma, demonstrating a resolution of up to 15-25 mm and a field of view of up to 7mm. Our method is open source and readily adaptable to other imaging modalities, such as ultrasonography and confocal microscopy.