Design, Modeling and Fabrication of a Tactile Sensor and Display System for Application in Laparoscopic Surgery
One of the major disadvantages of the minimally
invasive surgery (MIS) is the lack of tactile feedback to the surgeon.
In order to identify and avoid any damage to the grasped complex
tissue by endoscopic graspers, it is important to measure the local
softness of tissue during MIS. One way to display the measured
softness to the surgeon is a graphical method. In this paper, a new
tactile sensor has been reported. The tactile sensor consists of an
array of four softness sensors, which are integrated into the jaws of a
modified commercial endoscopic grasper. Each individual softness
sensor consists of two piezoelectric polymer Polyvinylidene Fluoride
(PVDF) films, which are positioned below a rigid and a compliant
cylinder. The compliant cylinder is fabricated using a micro molding
technique. The combination of output voltages from PVDF films is
used to determine the softness of the grasped object. The theoretical
analysis of the sensor is also presented.
A method has been developed with the aim of reproducing the
tactile softness to the surgeon by using a graphical method. In this
approach, the proposed system, including the interfacing and the data
acquisition card, receives signals from the array of softness sensors.
After the signals are processed, the tactile information is displayed
by means of a color coding method. It is shown that the degrees of
softness of the grasped objects/tissues can be visually differentiated
and displayed on a monitor.
[1] M.H. Lee and H.R. Nicholls, "Tactile sensing for mechatronics- a stateof-
the-art surgery," Mechatronics, vol. 9, no. 1, pp. 1-31, Feb. 1999.
[2] Mark H. Lee, "Tactile sensing: new directions, new challenges,"
International Journal of Robotics Research, vol. 19, no. 7, pp. 636-643,
July 2000.
[3] Y. Bar-Cohen, C. Mavroidis, M. Bouzit, B. Dolgin, D. Harm, G.
Kopchok, and R. White, "Virtual reality robotic operation simulations
using MEMICA haptic system," in Proc. Int. Conf. for Smart Systems
and Robotics for Medicine and Space Applications, Houston, USA,
September 2000.
[4] M.E.H. Eltaib and J.R. Hewit, "Tactile sensing technology for minimal
access surgery--a review," Mechatronics, vol. 13, no. 10, pp. 1163-
1177, Dec. 2003.
[5] P. Dario, "Tactile sensing-technology and applications," Sensors and
Actuators A-Physical, vol. 26, no. 1-3, pp. 251-261, March 1991.
[6] H.H. Rininsland, "Basics of robotics and manipulators in endoscopic
surgery," Endoscopic Surgery and Allied Technologies, vol.1, pp.154-
159, June 1993.
[7] J. Dargahi, "An endoscopic and robotic tooth-like compliance and
roughness tactile sensor," Journal of Mechanical Design, vol. 124, pp.
576-582, September 2002.
[8] A. Fisch, C. Mavroidis, J. Melli-Huber, and Y. Bar-Cohen, "Haptic
devices for virtual reality, telepresence, and human-assistive robotics,"
in Biologically-Inspired Intelligent Robots, Bellingham, Wash.: SPIE
Press, 2003, ch. 4.
[9] J. Dargahi and S. Najarian, "Human tactile perception as a standard for
artificial tactile sensing- a review," International Journal of Medical
Robotics and Computer Assisted Surgery, vol. 1, no. 13, pp. 23-35, June
2004.
[10] J. Dargahi and S. Najarian, "Theoretical and experimental analysis of a
piezoelectric tactile sensor for use in endoscopic surgery," Sensor
Review, vol. 24, no. 1, pp.74-83, 2004.
[11] J. Dargahi, "A three sensing element piezoelectric tactile sensor for
robotic and prosthetic applications," Sensors and Actuators A-Physical,
vol. 80, no.1, pp.23-30, March 2000.
[12] I. Brouwer, J. Ustin, L. Bentley, A. Sherman, N. Dhruv, and F. Tendick,
"Measuring in vivo animal soft tissue properties for haptic modeling in
surgical simulation," in Studies in Health Technology Informatics -
Medicine Meets Virtual Reality, Amsterdam: ISO Press, 2001, pp. 69-74.
[13] J. Dargahi, S. Najarian, and X.Z. Zheng, "Measurements and modeling
of compliance using a novel multi-sensor endoscopic grasper device,"
Sensors and Materials, vol. 17, no. 1, pp. 7-20, 2005.
[14] B. Hannaford, J. Trujillo, M. Sinanan, M. Moreyra, J. Rosen, J. Brown,
R. Leuschke, and M. MacFarlane, "Computerized endoscopic surgical
grasper," in Studies in Health Technology Informatics - Medicine Meets
Virtual Reality, Amsterdam: ISO Press, 1998, pp. 265-271.
[15] Bicchi A, Canepa G, Rossi D D, Iacconi P and Scilingo P, "A sensorized
minimally Invasive surgery tool for detecting tissue elastic properties,"
in Proceedings of the 1996 IEEE, Int. Conf. Robotics And Automation ,
Minneapolis, MN, Apr. 1996, pp. 884-888.
[16] Dargahi J and Najarian S, "Advances in tactile sensors
design/manufacturing and its impact on robotics applications- a review,"
Industrial Robots- An Int. J., vol. 32, No 3, pp 268-281, 2005.
[17] Dargahi J, Parameswaran M, amd Payandeh S., "A micromachined
piezoelectric tactile sensor for an endoscopic grasper- Theory,
Fabrication and Experiments," J of Microelectromechanical Systems, vol
9, No 3, pp329-335, September 2000.
[18] K. Takashimaa, K. Yoshinakab, T. Okazakia, and K. Ikeuchia, "An
endoscopic tactile sensor for low invasive surgery," Sensors and
Actuators A, vol. 119, no.2, pp. 372-383, April 2005.
[19] M. Tanakaa, H. Sugiuraa, J.L. Leveque, H. Tagamic, K. Kikuchic, and
S. Chonana, "Active haptic sensation for monitoring skin conditions,"
Journal of Materials Processing Technology, vol. 161, no.1-2, pp. 199-
203, April 2005.
[20] D. Klein, H. Freimuth, G.J. Monkman, S. Egersdo, A. Meier, H. Bo, M.
Baumann , H. Ermert, and O.T. Bruhns, "Electrorheological tactel
elements," Mechatronics, vol. 15, no.7, pp. 883-897, September 2005.
[21] J.Dargahi ,"An Endoscopic and Robotic Tooth-like Compliance and
Roughness Tactile Sensor", Journal of Mechanical Design, vol. 124,
no.3, pp.576-582, September 2002.
[22] N B Narayanan, Master-s Thesis, Concordia University, Dec 2007.
[23] M.Ramezanifard, J.Dargahi, W.Xie,"Graphical Reproduction of Tactile
Information of Embedded Lumps for MIS Applications", IEEE 2008
Haptics Symposium , March 13-14, Nevada, USA.
[1] M.H. Lee and H.R. Nicholls, "Tactile sensing for mechatronics- a stateof-
the-art surgery," Mechatronics, vol. 9, no. 1, pp. 1-31, Feb. 1999.
[2] Mark H. Lee, "Tactile sensing: new directions, new challenges,"
International Journal of Robotics Research, vol. 19, no. 7, pp. 636-643,
July 2000.
[3] Y. Bar-Cohen, C. Mavroidis, M. Bouzit, B. Dolgin, D. Harm, G.
Kopchok, and R. White, "Virtual reality robotic operation simulations
using MEMICA haptic system," in Proc. Int. Conf. for Smart Systems
and Robotics for Medicine and Space Applications, Houston, USA,
September 2000.
[4] M.E.H. Eltaib and J.R. Hewit, "Tactile sensing technology for minimal
access surgery--a review," Mechatronics, vol. 13, no. 10, pp. 1163-
1177, Dec. 2003.
[5] P. Dario, "Tactile sensing-technology and applications," Sensors and
Actuators A-Physical, vol. 26, no. 1-3, pp. 251-261, March 1991.
[6] H.H. Rininsland, "Basics of robotics and manipulators in endoscopic
surgery," Endoscopic Surgery and Allied Technologies, vol.1, pp.154-
159, June 1993.
[7] J. Dargahi, "An endoscopic and robotic tooth-like compliance and
roughness tactile sensor," Journal of Mechanical Design, vol. 124, pp.
576-582, September 2002.
[8] A. Fisch, C. Mavroidis, J. Melli-Huber, and Y. Bar-Cohen, "Haptic
devices for virtual reality, telepresence, and human-assistive robotics,"
in Biologically-Inspired Intelligent Robots, Bellingham, Wash.: SPIE
Press, 2003, ch. 4.
[9] J. Dargahi and S. Najarian, "Human tactile perception as a standard for
artificial tactile sensing- a review," International Journal of Medical
Robotics and Computer Assisted Surgery, vol. 1, no. 13, pp. 23-35, June
2004.
[10] J. Dargahi and S. Najarian, "Theoretical and experimental analysis of a
piezoelectric tactile sensor for use in endoscopic surgery," Sensor
Review, vol. 24, no. 1, pp.74-83, 2004.
[11] J. Dargahi, "A three sensing element piezoelectric tactile sensor for
robotic and prosthetic applications," Sensors and Actuators A-Physical,
vol. 80, no.1, pp.23-30, March 2000.
[12] I. Brouwer, J. Ustin, L. Bentley, A. Sherman, N. Dhruv, and F. Tendick,
"Measuring in vivo animal soft tissue properties for haptic modeling in
surgical simulation," in Studies in Health Technology Informatics -
Medicine Meets Virtual Reality, Amsterdam: ISO Press, 2001, pp. 69-74.
[13] J. Dargahi, S. Najarian, and X.Z. Zheng, "Measurements and modeling
of compliance using a novel multi-sensor endoscopic grasper device,"
Sensors and Materials, vol. 17, no. 1, pp. 7-20, 2005.
[14] B. Hannaford, J. Trujillo, M. Sinanan, M. Moreyra, J. Rosen, J. Brown,
R. Leuschke, and M. MacFarlane, "Computerized endoscopic surgical
grasper," in Studies in Health Technology Informatics - Medicine Meets
Virtual Reality, Amsterdam: ISO Press, 1998, pp. 265-271.
[15] Bicchi A, Canepa G, Rossi D D, Iacconi P and Scilingo P, "A sensorized
minimally Invasive surgery tool for detecting tissue elastic properties,"
in Proceedings of the 1996 IEEE, Int. Conf. Robotics And Automation ,
Minneapolis, MN, Apr. 1996, pp. 884-888.
[16] Dargahi J and Najarian S, "Advances in tactile sensors
design/manufacturing and its impact on robotics applications- a review,"
Industrial Robots- An Int. J., vol. 32, No 3, pp 268-281, 2005.
[17] Dargahi J, Parameswaran M, amd Payandeh S., "A micromachined
piezoelectric tactile sensor for an endoscopic grasper- Theory,
Fabrication and Experiments," J of Microelectromechanical Systems, vol
9, No 3, pp329-335, September 2000.
[18] K. Takashimaa, K. Yoshinakab, T. Okazakia, and K. Ikeuchia, "An
endoscopic tactile sensor for low invasive surgery," Sensors and
Actuators A, vol. 119, no.2, pp. 372-383, April 2005.
[19] M. Tanakaa, H. Sugiuraa, J.L. Leveque, H. Tagamic, K. Kikuchic, and
S. Chonana, "Active haptic sensation for monitoring skin conditions,"
Journal of Materials Processing Technology, vol. 161, no.1-2, pp. 199-
203, April 2005.
[20] D. Klein, H. Freimuth, G.J. Monkman, S. Egersdo, A. Meier, H. Bo, M.
Baumann , H. Ermert, and O.T. Bruhns, "Electrorheological tactel
elements," Mechatronics, vol. 15, no.7, pp. 883-897, September 2005.
[21] J.Dargahi ,"An Endoscopic and Robotic Tooth-like Compliance and
Roughness Tactile Sensor", Journal of Mechanical Design, vol. 124,
no.3, pp.576-582, September 2002.
[22] N B Narayanan, Master-s Thesis, Concordia University, Dec 2007.
[23] M.Ramezanifard, J.Dargahi, W.Xie,"Graphical Reproduction of Tactile
Information of Embedded Lumps for MIS Applications", IEEE 2008
Haptics Symposium , March 13-14, Nevada, USA.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:62342", author = "M. Ramezanifard and J. Dargahi and S. Najarian and N. Narayanan", title = "Design, Modeling and Fabrication of a Tactile Sensor and Display System for Application in Laparoscopic Surgery", abstract = "One of the major disadvantages of the minimally
invasive surgery (MIS) is the lack of tactile feedback to the surgeon.
In order to identify and avoid any damage to the grasped complex
tissue by endoscopic graspers, it is important to measure the local
softness of tissue during MIS. One way to display the measured
softness to the surgeon is a graphical method. In this paper, a new
tactile sensor has been reported. The tactile sensor consists of an
array of four softness sensors, which are integrated into the jaws of a
modified commercial endoscopic grasper. Each individual softness
sensor consists of two piezoelectric polymer Polyvinylidene Fluoride
(PVDF) films, which are positioned below a rigid and a compliant
cylinder. The compliant cylinder is fabricated using a micro molding
technique. The combination of output voltages from PVDF films is
used to determine the softness of the grasped object. The theoretical
analysis of the sensor is also presented.
A method has been developed with the aim of reproducing the
tactile softness to the surgeon by using a graphical method. In this
approach, the proposed system, including the interfacing and the data
acquisition card, receives signals from the array of softness sensors.
After the signals are processed, the tactile information is displayed
by means of a color coding method. It is shown that the degrees of
softness of the grasped objects/tissues can be visually differentiated
and displayed on a monitor.", keywords = "Minimally invasive surgery, Robotic surgery,Sensor, Softness, Tactile.", volume = "3", number = "6", pages = "729-5", }
