F-2-2 双方向性を組み込んだ腹腔鏡手術用触覚センシングシステムのための鉗子型触覚センサの開発

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  • F-2-2 Forceps-type Tactile Sensor for Haptic Sensing System Including Bidirectionality for Laparoscopic Surgery

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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.

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