A Sensory Feedback System with Pneumatic Dual-Structure Tactile Display for Softness Assessment during Laparoscopic Surgery
A Sensory Feedback System with Pneumatic Dual-Structure Tactile Display for Softness Assessment during Laparoscopic Surgery
复制标题
具有气动双结构触觉显示器的感觉反馈系统，用于腹腔镜手术期间的柔软度评估
DOI：
10.1109/whc49131.2021.9517233
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Yukihiro Terada
中科院分区：
文献类型：
--
作者：
Tomohiro Udo;Taku Ukai;Yoshihiro Tanaka;Hiroshi Miura;Yukihiro Terada
在腹腔镜手术中，外科医生的触觉受到限制。我们的目标是通过为子宫腺肌病的外科医生提供触觉反馈来实现柔软度评估。触觉反馈不仅能准确识别柔软度，还能有效地进行充分的操作。本文提出了一种气动双结构触觉显示的感觉反馈系统，它提供了软度传感探头所获得的压力分布信息。触觉显示器具有中央和外围刺激区，这些刺激区因气压而扩展以呈现，用于指垫上压力的集中和分散。这种显示器重量轻，性价比高，可消毒，一次性使用。它安装在一个传感探头手柄上，这是我们之前开发的，根据声学传感原理可用于临床。为了强调双结构的压力分布，提出了一种增益调节方法。对触觉显示器进行了基础测试，并对带有置信度和压力测量的反馈系统进行了心理物理实验。使用反馈后，识别灵敏度和可信度显著提高，压迫力显著降低。结果表明，该系统可有效地用于腹腔镜手术中的柔软度评估和安全操作。
In laparoscopic surgery, the surgeon’s tactile sense is restricted. We aim to enable softness assessment by providing tactile feedback to the surgeon for adenomyosis of the uterus. Tactile feedback is effective for not only accurate softness discrimination but also adequate operation. This paper proposes a sensory feedback system with a pneumatic dual-structure tactile display, which presents information on the pressure distribution obtained by a softness sensing probe. The tactile display has central and peripheral stimulation areas, which expand due to air pressure to present, for the concentration and dispersion of pressure on the finger pad. This display is lightweight, cost-effective, sterilizable, and disposable. It is mounted on a sensing probe handle, which we previously developed and is available for clinical use by the acoustic sensing principle. To emphasize the pressure distribution by the dual structure, a gain adjustment was proposed. Fundamental test on the tactile display and the psychophysical experiment on the feedback system with confidence rating and pressing force measurement were conducted. The discrimination sensitivity and confidence were significantly improved, and the pressing force was significantly reduced using feedback. The results indicated that the proposed system is effective for softness assessment and safe operation during laparoscopic surgery.