Abstract
We have developed haptic sensing system including bidirectionality for the laparoscopic surgery. A forceps-type tactile sensor using sound reflection is developed for the sensing system. The sensor ensures safety in electricity for body tissue and can be sterilized and deterged. In this paper, a surgical simulation environment is assembled and experiment using the developed sensor is conducted for a phantom of the stomach wall with a 0-IIc type tumor (most popular early-stage gastric cancer) in that environment. Result shows that large sensor output is obtained for the lump due to the phantom tumor and the sensor has a potential to detect the lump in the laparoscopic surgery.
