Development of finger abdominal sensation device for maxillofacial palpation system

Abstract

This study is engaging on the development of a virtual training system for maxillofacial palpation. This paper firstly discusses the functions of a haptic interface that should be have for our system, because doctors recognize not only the elasticity but also the shape of a tumor in palpation. We newly developed a prototype of our haptic interface, where seven pins are nearly allocated and moves independently to present both of shape and elasticity of an object onto the surface of a finger.