{"title":"Design, Modeling and Fabrication of a Tactile Sensor and Display System for Application in Laparoscopic Surgery","authors":"M. Ramezanifard, J. Dargahi, S. Najarian, N. Narayanan","volume":30,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":695,"pagesEnd":700,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/13322","abstract":"One of the major disadvantages of the minimally\r\ninvasive surgery (MIS) is the lack of tactile feedback to the surgeon.\r\nIn order to identify and avoid any damage to the grasped complex\r\ntissue by endoscopic graspers, it is important to measure the local\r\nsoftness of tissue during MIS. One way to display the measured\r\nsoftness to the surgeon is a graphical method. In this paper, a new\r\ntactile sensor has been reported. The tactile sensor consists of an\r\narray of four softness sensors, which are integrated into the jaws of a\r\nmodified commercial endoscopic grasper. Each individual softness\r\nsensor consists of two piezoelectric polymer Polyvinylidene Fluoride\r\n(PVDF) films, which are positioned below a rigid and a compliant\r\ncylinder. The compliant cylinder is fabricated using a micro molding\r\ntechnique. The combination of output voltages from PVDF films is\r\nused to determine the softness of the grasped object. The theoretical\r\nanalysis of the sensor is also presented.\r\nA method has been developed with the aim of reproducing the\r\ntactile softness to the surgeon by using a graphical method. In this\r\napproach, the proposed system, including the interfacing and the data\r\nacquisition card, receives signals from the array of softness sensors.\r\nAfter the signals are processed, the tactile information is displayed\r\nby means of a color coding method. It is shown that the degrees of\r\nsoftness of the grasped objects\/tissues can be visually differentiated\r\nand displayed on a monitor.","references":"[1] M.H. Lee and H.R. 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