The lack of haptic feedback in minimally invasive surgery results in the dependence on high-resolution images. This study used a simplified working abstraction of a haptic feedback system, including a master manipulator, a console table, a slave indenter, and a control algorithm to construct a scalable platform for a palpation device. A piezoelectric actuator was designed using finite element simulation, and was added to the master manipulator to produce thrust force against the user’s finger pressing. Button motion on the master manipulator was synchronized with the slave indenter's linear movement. If the indenter contacted an object, the loading was used to adjust the thrust force of the piezoelectric actuator in the console table. This function can be developed into a model of haptic perception, like palpating an object. Instead of a human operator, this study used a reciprocating mechanism to simulate finger pressing and tested the haptic feedback system under different contact conditions: two indentation speeds (0.84 mm/s, 4.2 mm/s) and two springs of different stiffness (214.6 N/m, 474.3 N/m). The results showed that our haptic feedback system allows estimating the stiffness of objects. Lower indentation speeds disclosed a clearer contact information. The piezoelectric actuator yielded better efficiency at the resonant frequency and smaller preload. A smaller friction force could increase the response speed. The response time of whole system was 0.36 s and the variation of the thrust force of one piezoelectric actuator was in a quite small range of 0.3 N. To improve the haptic feedback system, to integrate more actuators and to develop the embedded controller module were the potential solution.

微创外科手术中缺乏触觉反馈导致对高分辨率图像的依赖。这项研究使用了触觉反馈系统的简化工作抽象，包括主操纵器，控制台表，从属压头和控制算法，以构建触诊设备的可扩展平台。使用有限元模拟设计了压电致动器，并将其添加到主操纵器中，以产生抵抗用户手指按压的推力。主操纵器上的按钮运动与从属压头的线性运动同步。如果压头接触到物体，则将负载用于调节控制台中压电致动器的推力。该功能可以开发为触觉感知模型，例如触摸物体。这项研究代替了人工操作，而是使用往复机构来模拟手指的按压并在不同的接触条件下测试了触觉反馈系统：两个压入速度（0.84 mm / s，4.2 mm / s）和两个具有不同刚度的弹簧（214.6 N /m，474.3 N / m）。结果表明，我们的触觉反馈系统可以估计物体的刚度。较低的压痕速度显示出更清晰的联系信息。压电致动器在谐振频率和较小的预载下产生了更高的效率。较小的摩擦力可以提高响应速度。整个系统的响应时间为0.36 s，一个压电致动器的推力变化在0.3 N的很小范围内。为改善触觉反馈系统，