Techniques for touch sense on invasive tools in minimal access therapy

The paper describes an experimental master-slave system that demonstrates new techniques for controlling a flexible actuator with force feedback to the user in way suitable for palpation. The method has adopted novel sensor and actuator elements that potentially are of low cost and that are of appropriate form for surgical intervention through minimal access. Such methods are appropriate for laparoscopy and endoscopy however, whilst the current system is able to demonstrate the method of operation, there is a need to improve the mechanical elements further, in particular to increase bandwidth in-line with the minimum required to suit human response. This will enable a variety of tool actions and augment control. In its current form, the results are encouraging as at slow rates of movement the system does provide a reasonable level of realism in terms of touch sense