A Pneumatic Tactile Ring for Instantaneous Sensory Feedback in Laparoscopic Tumor Localization
A Pneumatic Tactile Ring for Instantaneous Sensory Feedback in Laparoscopic Tumor Localization
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DOI：
10.1109/toh.2018.2854753
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发表时间：
2018-10
影响因子：
2.9
通讯作者：
T. Fukuda;Yoshihiro Tanaka;A. Kappers;Michitaka Fujiwara;A. Sano
中科院分区：
文献类型：
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作者：
T. Fukuda;Yoshihiro Tanaka;A. Kappers;Michitaka Fujiwara;A. Sano
我们的目标是实现腹腔镜手术中无法肉眼检测到的早期胃肿瘤的术中定位。在这项研究中，我们开发并评估了气动触觉环，这是一种临床适用的触觉装置，可通过外科医生直接操作的触觉传感器提供即时反馈。它被设计为戴在操作手的手指上并向指垫施加压力。它重量轻、经济高效、一次性且可消毒。我们还开发了一种紧凑型气动驱动装置来控制压力并研究了其基本性能。压力控制的带宽至少为1.3 Hz，可控范围高达79.7 kPa。此外，还进行了心理物理学实验，以获得压力的韦伯比，并评估传感器通过触觉环输出的瞬时触觉反馈的有效性。参考压力为 22.7 kPa 时，韦伯比为 0.40。提供的触觉反馈显着减少了绝对定位误差，并增加了参与者对其答案的信心。结果表明，通过环的触觉反馈在腹腔镜肿瘤定位中是有效的。
We aim to achieve intraoperative localization of an early-stage gastric tumor that cannot be visually detected during laparoscopic surgery. In this study, we developed and evaluated a pneumatic tactile ring, which is a clinically applicable tactile device to provide instantaneous feedback from a tactile sensor directly manipulated by a surgeon. It was designed to be worn on the finger of the manipulating hand and to present pressure to the finger pad. It is lightweight, cost-effective, disposable, and sterilizable. We also developed a compact pneumatic drive unit to control the pressure and investigated its fundamental performance. The bandwidth of the pressure control was at least 1.3 Hz with a controllable range of up to 79.7 kPa. Moreover, a psychophysical experiment was performed to obtain the Weber ratio of the pressure and evaluate the effectiveness of the instantaneous tactile feedback of the sensor output through the tactile ring. The Weber ratio was 0.40 at the reference pressure of 22.7 kPa. The provided tactile feedback significantly reduced the absolute localization error and increased participants’ confidence in their answers. It was shown that the tactile feedback through the ring is effective in laparoscopic tumor localization.