Micromechatronics in surgery: haptic sensors and feedback systems in minimally invasive surgery, medical devices, and robotics

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Haptics generally refers to touch feedback, which includes Kinesthetic (force) and Cutaneous (tactile) feedback. Since direct manipulation and palpation of tissue is not possible in manual Minimally Invasive Surgery (MIS), feedback information about tactile tissue properties is considerably diminished. The lack of haptics feedback in MIS has reportedly resulted in intraoperative injury. In teleoperated Minimally Invasive Robotic-assisted Surgery (MIRS), all natural haptics feedback is eliminated because the surgeon no longer manipulates the instrument directly. The lack of effective haptics feedback is reported by surgeons and robotics researchers alike to be a major limitation to current MIRS systems. Restoring part of the surgeon's sense of touch through devices capable of providing Artificial Tactile Feedback (ATF) is an active field of applied research and development. The primary objectives of the presently proposed research are to design and fabricate innovative tactile sensors and feedback systems that satisfy the current need of MIS and MIRS. The applicant has a patent in this area entitled: "Systems for Sensing and Displaying Force and Softness" (PCT patent no. CA2009/000529). The patent considerably expands the current technology. The research program proposed here will build upon the applicant's past experience and success in developing tactile sensing and feedback systems to combine fully-optical, micro-machined tactile sensing techniques with innovative physical tactile display systems, which will address serious current surgical needs for effective operations in MIS and Minimally Invasive Robotic Surgery (MIRS). Moreover, the outcome of the research could also be used in general robotics. For example, tactile or microtactile sensors could be placed on the fingers of the robotic manipulators in the automotive, aerospace, pharmaceutical, and paper industries as well as in food and beverage processing. In addition, force and softness feedback would have a huge market in the entertainment industry as well as in any industries that use tele-manipulation or deal with virtual reality.