Abstract
We have developed a laparoscopic grasper having tactile sensing function using acoustic reflection. The grasper has advantages for surgical application such as having no electrical elements within a part that is inserted into patient's body and simple structure. In this study, we tried to construct grasping force feedback by using the developed grasper. As a tactile presentation device, we used our previously developed tactile display, which is ring-type and pneumatic-driven. The display also has high applicability for surgical situation because of having simple structure and high wearability. A grasping test with objects with different materials was conducted to investigate the effectiveness of the feedback.
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