Fukuda Tomohiro, Tanaka Yoshihiro, Kappers Astrid M L, Fujiwara Michitaka, Sano Akihito
IEEE Trans Haptics. 2018 Oct-Dec;11(4):485-497. doi: 10.1109/TOH.2018.2854753. Epub 2018 Jul 10.
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.
我们旨在实现对腹腔镜手术中无法目视检测到的早期胃癌肿瘤进行术中定位。在本研究中，我们开发并评估了一种气动触觉环，这是一种临床适用的触觉设备，可提供由外科医生直接操作的触觉传感器的即时反馈。它被设计成戴在操作手的手指上，并向指垫施加压力。它重量轻、成本效益高、一次性使用且可消毒。我们还开发了一个紧凑的气动驱动单元来控制压力，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，进行了一项心理物理学实验，以获得压力的韦伯比率，并评估通过触觉环的传感器输出的即时触觉反馈的有效性。在22.7 kPa的参考压力下，韦伯比率为0.40。所提供的触觉反馈显著降低了绝对定位误差，并提高了参与者对其答案的信心。结果表明，通过该环的触觉反馈在腹腔镜肿瘤定位中是有效的。
