A TACTILE SENSOR FOR LAPAROSCOPIC CHOLECYSTECTOMY

During laparoscopic surgery, surgeons observe the three-dimensional ab dominal cavity on a two-dimensional TV monitor, which is a limitation. Another limitation is that surgeons are unable to estimate the softne ss of organs or tissues during laparoscopic surgery as they are only a llowed to use instruments which touch objects and direct palpation is not permitted during the procedure. The tactile sensor which we used d isplays the object softness immediately as a digital score, which can then be superimposed on a TV monitor as a graph. With the tactile sens or, we were able to ascertain the presence of a gallstone in the gallb ladder or cholecystic duct during laparoscopic cholecystectomy and als o able to discriminate between a stone and an air bubble during intrao perative cholangiography. We were convinced that the tactile sensor wo uld be useful in laparoscopic surgery, which does not permit surgeons to palpate objects with human fingers.