Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery – Preliminary Results of a New Approach

摘要

Minimally invasive robotic surgery (MIRS) entailsudtotal absence of haptic feedback due to the spatial separationudof patient and surgeon. In conventional surgery, however,udpalpation to detect superficial arteries by a slight pulsation isudan important, commonly applied, and security-relevant procedure.udTherefore, an ultrasound based unidirectional sensor forudMIRS was developed feeding back kinesthetic impulses to theudsurgeon-sided haptic input device.