抄録
We have proposed a palpation system utilizing haptic bidirectionality for laparoscopic surgery. Human can optimize exploratory movement according to tactile sensation. In this system, surgeons can feel output from a tactile sensor through a tactile display and haptic bidirectionality can be established. For this system, we have developed a forceps-type tactile sensor. The tactile sensor is very simple and has electrical safety for body tissue. It can be sterilized and be disposed because of its low cost. In this paper, we develop a tactile display that presents normal force to instep, where is in the unclean area of surgeons. The display does not have to possess applicability for sterilizing and cleaning. Then, the palpation system is assembled by using the tactile sensor and the tactile display. Moreover, an experiment is conducted and the result shows that the system has the availability for tumor detection.
