The sense of touch is essential to most physical activities that sustain and enrich our lives. Human touch sensing is facilitated by resources spanning the nervous system, musculoskeletal system, and the skin, our largest sensory organ. Together, these comprise what is referred to as the haptic sense. The sensory organ of touch is the skin. It is the largest organ of the body, comprising about 15% of our body mass.[1] It is a marvel of biological engineering, sensitive enough to detect The sense of touch is involved in nearly all human activities, but information technologies for displaying tactile sensory information to the skin are rudimentary when compared to state-of-the-art video and audio displays, or to tactile perceptual capabilities. Realizing tactile displays with good perceptual fidelity will require major advances in engineering, design, and fabrication. Research over several decades has highlighted the difficulties of meeting the required performance benchmarks using conventional devices, processes, and techniques. This has highlighted the important role that will be played by new material technologies that can bridge the electronic and mechanical domains. This must occur at the smallest scales, because of the great perceptual spatial and temporal acuity of the sense of touch. The requirements involved also furnish valuable performance benchmarks against which many emerging material technologies are being evaluated. This article highlights recent research and possibilities enabled through new material technologies, ranging from organic electronic materials, to carbon nanomaterials, and a variety of composites. Emerging material technologies are surveyed for the sense of touch, including sensory considerations and requirements, materials, actuation principles, and design and fabrication methods. A conclusion reflects on the main open challenges and future prospects for research in this area. Haptic Devices

Emerging Material Technologies for Haptics

A Comprehensive Survey on Microgrippers Design: Mechanical Structure

With the successful uptake and inclusion of robotic systems in minimally invasive surgery and with the increasing application of robotic surgery (RS) in numerous surgical specialities worldwide, there is now a need to develop and enhance the technology further. One such improvement is the implementation and amalgamation of haptic feedback technology into RS which will permit the operating surgeon on the console to receive haptic information on the type of tissue being operated on. The main advantage of using this is to allow the operating surgeon to feel and control the amount of force applied to different tissues during surgery thus minimising the risk of tissue damage due to both the direct and indirect effects of excessive tissue force or tension being applied during RS. We performed a two-rater systematic review to identify the latest developments and potential avenues of improving technology in the application and implementation of haptic feedback technology to the operating surgeon on the console during RS. This review provides a summary of technological enhancements in RS, considering different stages of work, from proof of concept to cadaver tissue testing, surgery in animals, and finally real implementation in surgical practice. We identify that at the time of this review, while there is a unanimous agreement regarding need for haptic and tactile feedback, there are no solutions or products available that address this need. There is a scope and need for new developments in haptic augmentation for robot-mediated surgery with the aim of improving patient care and robotic surgical technology further.

/pdf/prevalence-of-haptic-feedback-in-robot-mediated-surgery-a-unlv3uq7tu.pdf

Prevalence of haptic feedback in robot-mediated surgery: a systematic review of literature.

A Comprehensive Survey on Microgrippers Design: Operational Strategy

Shape memory alloys (SMAs) are a class of smart materials characterized by shape memory effect and pseudo-elastic behavior. They have the capability to retain their original form when subjected to certain stimuli, such as heat or a magnetic field. These unique properties have attracted many researchers to seek their application in various fields including transportation, aerospace, and biomedical. The ease process adaption from semiconductor manufacturing technology provides many opportunities for designing micro-scale devices using this material. This paper gives an overview of the fabrication and manufacturing technique of thin-film and bulk micromachined SMAs. Key features such as material properties, transformation temperature, material composition, and actuation method are also presented. The application and micromechanism for both thin-film and bulk SMA are described. Finally, the microactuator devices emphasized for biomedical applications such as microgrippers and micropumps are highlighted. The presented review will provide information for researchers who are actively working on the development of SMA-based microscale biomedical devices.

https://www.mdpi.com/2072-666X/6/7/879/pdf

Micromachined Shape-Memory-Alloy Microactuators and Their Application in Biomedical Devices

A novel triaxial force sensing device developed by the authors with a MEMS sensor as core component is mounted on a subnanometric resolution nanomanipulator having three degrees of freedom (DOF). This sensorized device allows measuring forces on the nanomanipulator tip in the range of 0–3 N for normal and ±50 mN for tangential forces with a resolution of 11 bits. Together with a haptic input device, a setup was created allowing palpation and force feeling. The mathematical model used to drive the master haptic interface force feedback capabilities is based on online force and stiffness measurement. The performance of the novel setup is demonstrated with a cell palpation experiment.

A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

In this paper a polymer sensorised microgripping tool for micromanipulation is presented. The gripper structure is made by moulding of polyurethane in silicon moulds by the technique of shape deposition manufacturing (SDM), in which the force sensing elements and part of the actuator (in this case, microstrain gauges and SMA (shape memory alloy) wire, respectively) are embedded into the microgripper in one process step. The actuation principle for the microgripper is an SMA wire. The advantages of the fabrication process are low cost and manufacture cycle time. This paper details the technique for fabrication of the microgripper to produce prototypes. These prototypes were then tested and characterised in terms of force output, hysteresis and repeatability. A further miniaturised unsensorised microgripper based on the same actuation principle and fabrication process (but less than half the size) was fabricated to demonstrate the possibility of further downscaling.

Polymer sensorised microgrippers using SMA actuation.

A Teleoperation System with Novel Haptic Device for Micro-Manipulation.

In this paper a teleoperation system is presented which consists of a sensorised polymer microgripper as a suitable end effector on an endoscopic microinstrument which is controlled by a novel tweezer-like haptic input device. This tweezer device gives the operator the ability to remotely feel these forces generated by grasping operations with the microgripper. This feedback is used to control the amount of force applied in manipulation of tissues during the procedure. The mechanical and electronic design of the microgripper, microinstrument and haptic tweezers is also presented and preliminary results detailed.

Novel haptic tool and input device for bilateral biomanipulation addressing endoscopic surgery

Percutaneous procedures to divert blood flow from one blood vessel to another can be performed with intravascular catheters but demand a method to align a crossing needle from one vessel to another. Fluoroscopic imaging alone is not adequate, and it is preferable to have a sensor on one catheter that detects the correct alignment of an incoming needle. This can be implemented by generating dipole electric fields from the crossing catheter which are detected by a receiving catheter in the target vessel and, thus, can calculate and display the degree of alignment, permitting the operator to rotate the crossing catheter to guarantee alignment when deploying a crossing needle. Catheters were built using this concept and evaluated in vitro. The results show that accurate alignment is achieved, and a successful crossing can be made. The concept is being further developed for further clinical evaluation.

/pdf/electric-field-based-guidance-for-percutaneous-catheter-1ikd6gis.pdf

Electric-Field-Based Guidance for Percutaneous Catheter Vessel Crossing

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