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

触觉通常指的是触摸反馈，其包括动觉（力）和皮肤（触觉）反馈。由于在手动微创手术（MIS）中不可能直接操纵和触诊组织，因此关于触觉组织特性的反馈信息大大减少。据报道，MIS中缺乏支撑襻反馈导致术中损伤。 在远程微创机器人辅助手术（MIRS）中，所有自然触觉反馈都被消除，因为外科医生不再直接操纵器械。 据外科医生和机器人研究人员报告，缺乏有效的触觉反馈是当前MIRS系统的主要限制。通过能够提供人工触觉反馈（ATF）的装置恢复外科医生的部分触觉是应用研究和开发的活跃领域。

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.