Lump detection with tactile sensing system including haptic bidirectionality

We have developed the tactile sensing system including haptic bidirectionality for laparoscopic surgery. In humans´ active touch, exploration influences perception, but also perception influences exploration. Humans can optimize or change the exploratory movements according to the perception and/or the task, consciously or unconsciously. Our proposed sensing system uses the user´s ability on haptic perception by including the bidirectionality. In this paper, considering the actual situation in the application to the laparoscopic surgery, a slim forceps-shaped sensor is assembled and a simulated stomach wall with the lump is used for experiments. The sensor output for the lump is discussed and a signal processing of the collected sensor output for the lump detection is presented. Results show a potential of the tactile sensing system.