A tactile enhancement instrument for minimally invasive surgery

Figures & data

Figure 1. Application of the MicroTactus concept to an augmented arthroscopic probe.

Figure 2. Main structural components of the probe. The digital signal processing hardware and software is not shown here.

Figure 3. (a) The texture amplitude was modulated by varying the pressure of the probe on the surface. (b) A small crack produced a single transient. (c) A double crack produced a double transient. (d) A large transient given by a deep cut.

Figure 4. Responses grouped by holding method and probed surfaces.

Figure 5. Results summarized (a) by condition and (b) by pad.

Table I.  Pooled results in percentile form for the four conditions and for the different cuts.

Condition	No cut	Small cut	Two cuts	Deep cut
Off	92	15	33	100
Haptic	90	44	65	100
Audio	90	63	77	100
Passive	50	60	65	98