Haptic display able to replicate the rheological behaviour of surgical tissues

Minimally invasive surgery exhibits many advantages, but still suffers from loss of the perception of rheological properties of manipulated tissues. This problem is tackled at first by realizing a sensorized surgical tool and visualizing on a monitor the compliance parameter of manipulated tissues, but the only visual feedback was however not completely satisfactory. Afterwards, we realized a tactile display returning the kinesthetic (force-position) sensation of the stiffness and damping of manipulated tissues. Finally, here we discuss the behaviour of a haptic display where the tactile information is integrated with kinesthetic sensation. The haptic display is associated with a sensory system specially designed, but here we also propose the solution of using the already sensorized laparoscopic forceps, by processing the acquired signals applying the Hertz theory.