A study on tactile display for haptic sensing system with sensory feedback for laparoscopic surgery

We have developed a haptic sensing system including human's haptic bidirectionality for tumor detection on the stomach wall in the laparoscopic surgery. The system has a tactile sensor and a tactile display. A surgeon can feel output from the tactile sensor mounted on forceps by the tactile display. In this paper, a tactile display for the haptic sensing system is investigated. We developed two types of wearable tactile displays that were mounted on the arm. An evaluation test showed that the tactile displays might be available to detect the lump in the haptic sensing system.