腹腔鏡下手術のための音響式多軸力検出に基づく触覚フィードバックシステムの開発

在腹腔镜癌症手术中，对目标肿瘤的评估使外科医生能够以最小的切缘切除肿瘤。我开发了一种具有较高临床适用性的环形替代触觉显示器，名为su - ring，为用户提供术中肿瘤定位的法向力和剪切力反馈。实验结果表明，基于触觉显示的剪切反馈可以提高用户对肿瘤的定位性能，而正常反馈有助于保证操作过程中的安全要求。此外，用户可以根据法向和剪切反馈来识别肿瘤的深度和大小。SuP-Ring的概念和实验结果被总结并发表在两个国际期刊和我的博士论文上。

In laparoscopic cancer surgery, assessing the target tumor enables surgeons to resect the tumor with a minimum margin . I developed a ring-type substitutional tactile display with high clinical applicability, called SuP-Ring, that provides users with normal and shear force feedback for intra-operative tumor localization. The experimental results showed that users could enhance their performance in localizing the tumor based on the shear feedback of the tactile display, while the normal feedback contributes to ensuring the safety requirements during operation. Furthermore, users could identify the tumor depth and size based on both normal and shear feedback. The SuP-Ring concept and the experimental results were summarized and published in two international journals and my doctoral thesis.