Real-time tactile sensory feedback during minimally invasive surgery

Abstract

Minimally Invasive Surgery (MIS) is now routinely used as the preferred choice for many operations. MIS, due to surgeons’ indirect interaction with operation site, severely reduces the surgeon’s visual and tactile sensory perception during manipulation. Though visual sensing for MIS is well-established, it still suffers from lack of a tactile sensing. The two most important aspects of a tactile sensing system for MIS application are force and stiffness information existing in the sensor-tissue interface. This information is necessary for safe handling and safe grasping of tissues.