Remote Palpation Technology for Surgical Applications

INTRODUCTION One of a surgeon's most important tools is a highly developed sense of touch. Surgeons rely on sensations from the finger tips to guide manipulation and to perceive a wide variety of anatomical structures and pathologies. Unfortunately, new surgical techniques separate the surgeon's hands from the surgical site. These techniques include minimally invasive procedures such as laparoscopy and thoracoscopy, and new techniques involving robotic manipulators. In these situations the surgeon's perception is limited to visual feedback from a video camera, or gross motion and force feedback through the handles of long instruments.