Abstract
Background
Shear force is important for tumor detection and can contribute to minimally invasive surgery (MIS). A popular method uses lateral skin stretch to produce shear force but has some limitations.
Methods
We have developed a ring-type pneumatic tactile display that employs normal indentation substituted for lateral skin stretch to represent normal and shear feedback, called SuP-Ring. Psychophysical experiments were conducted to evaluate how users perceive the provided feedback and the effectiveness of SuP-Ring in tumor localization.
Results
The experimental results show that the participants could perceive the provided normal and shear feedback well. Shear feedback enables users to enhance their performance in localizing the tumor and normal feedback could contribute to ensuring the safety requirements in MIS.
Conclusions
The proposed tactile display could be useful for intraoperative tumor localization and has the potential to be used in a wide variety of applications.
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