Visual and tactile feedback for a direct-manipulating tactile sensor in laparoscopic palpation

Tomohiro Fukuda*, Yoshihiro Tanaka, Astrid M.L. Kappers, Michitaka Fujiwara, Akihito Sano

*Corresponding author for this work

Research output: Contribution to JournalArticleAcademicpeer-review


Background: A surgeon's tactile sense can contribute to intraoperative tumor detection, but it is limited by laparoscopic surgery. Methods: We have developed a simple and biocompatible tactile sensor. This study aimed to design and evaluate visual and tactile feedback from the sensor for laparoscopic tumor detection. A line graph was offered through a monitor as the visual feedback. A normal force was presented to the user's foot as the tactile feedback. Twelve novices conducted a task of detecting a phantom tumor under 4 conditions (no feedback, visual feedback, tactile feedback and a combination of both types of feedback). Results: The visual feedback was significantly more effective in detection than no feedback. Moreover, both visual and tactile feedback led to safer manipulation with significantly smaller load and lower scanning speed, respectively. Conclusions: The results suggest that visual and tactile feedback can be useful for laparoscopic palpation; however, their effects depend on the means in which they are presented.

Original languageEnglish
Article numbere1879
Pages (from-to)1-13
Number of pages13
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Issue number2
Early online date21 Dec 2017
Publication statusPublished - Apr 2018


  • laparoscopy
  • palpation system
  • sensory feedback
  • tumor detection


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