It is very important for surgeons to be able to touch and feel the tissue/organs/ stones while operating since the sense of touch is one of the primary sources of information that guides the surgeon during surgery. Current research is mainly focused on a problem in laparoscopic surgery for optimal human robot interaction. This problem was solved in an original way. Both direct and indirect control algorithms showed their effectiveness but and disadvantage. To avoid disadvantage of direct force measurement (expensive, non sterilizable and not modular method) a mechanical construction was produced where two force sensors by Honeywell Company were situated. The force sensor is inserted into the handle of the laparoscopic instrument as intermediate link between the linear actuator and interchangeable jaws. The presented tactile device is an attempt to offer a solution that satisfies in some extent the complex requirements towards the robot-assisted microsurgery for tactile and force information for optimal human robot interaction.
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