An endoscopic tactile sensor for low invasive surgery

In order to improve the manipulation ability of endoscope, we have developed a new tactile sensor system using image processing. As this system uses an infrared (IR) cut pattern, it is possible to install the sensor in the tip of an existing endoscope easily. In addition, software has also been developed to convert the image into the tactile force. We tested the performance of this system with the trial device. The tactile force can be determined from the image of IR cut pattern. The effects of the noises can be predicted and eliminated. And the results of this study confirm that this system is useful for endoscopic surgery.