JP5549979B2 - Spatial transparent tactile presentation device and tool operation support system - Google Patents

Description

  The present invention relates to a spatially transparent tactile sensation presentation apparatus that generates a tactile sensation on a fingertip by electrical stimulation, and a tool operation support system including the spatially transparent haptic presentation apparatus.

  With the advancement of technology in recent years, development of electrical stimulation devices that generate sensations by electrical stimulation has been underway. Such an electrical stimulator simulates mechanoreceptor activity (electrical signal generation) when a human touches an object with his / her finger and generates a sensation by direct electrical stimulation. Is a sensory substitution device in welfare that provides information necessary for life to the visually impaired by tactile sensation (skin sensation), combined with the expectation that it will be smaller and lighter than mechanical tactile presentation devices, It is expected to be applied to a work support device in medical care that gives danger information to a doctor during surgery by touch.

  As an example of such an electrical stimulation device, for example, an electrical stimulation device in which electrodes are arranged in an array has been proposed (Patent Document 1, Non-Patent Document 1).

  In addition, a smart tool has been proposed that informs the surgeon of danger information with the force acting on the tool when the tool approaches a dangerous area such as a nerve or blood vessel during surgery (Patent Document 2).

Japanese Patent No. 3543097 JP 2003-48182 A

H. Kajimoto, et. al. , “Optimal design method for selective nerve and simulation applications and it's application to electorogeneous transport and H., Tenth Symposium on Haptic and Non-Effects. 303-310, Mar 2002.

  However, since the electrodes are arranged in an array, it is inevitable that the presentation device becomes large, and a compact device cannot be provided. In addition, in the case of a conventional electrical stimulation device, the stimulation position and the perceived position (sense generation position) are at the same position. For example, a stimulation device must be placed between the fingertip and the tool. It was difficult to operate the tool smoothly with the fingertips.

  In addition, in the case of an operation support device such as a smart tool, it is configured to generate not only a tactile sense but also a force (movement). It was inevitable.

  For this reason, there is no device between the fingertip and the tool (transparent transparent type), there is no sense of incongruity in operation, and the operation of the tool is not hindered. Development of tactile presentation technology has been desired.

  As a result of intensive studies, the present inventor has found that the above problems can be solved by the invention described below, and has completed the present invention. The invention of each claim will be described below.

The invention described in claim 1
Two stimulation electrodes abutted along each of the two afferent nerves running on both sides of the finger;
One ground electrode that is in contact with the palm side of the two stimulation electrodes;
Each of the stimulation electrodes has an electrical signal generator that provides a predetermined electrical signal that controls at least one of a wave height and a frequency corresponding to each of the stimulation electrode terminals,
Providing the electrical signal to each of the stimulation electrodes to generate electrical stimulation in the two afferent nerves;
A spatially transparent tactile sensation presentation apparatus characterized in that a tactile sensation is generated at a terminal position of a finger different from a stimulation position by the electrical stimulation.

  The present inventor examines the anatomical structure of the nerve running on the finger, and electrically stimulates the nerve running on the left and right sides of the finger (afferent nerve), thereby making the terminal position of the finger different from the electrical stimulation position It has been found that tactile sensations can be perceived, and that the electrical stimulation only generates tactile sensation and does not involve generation of force (movement) unlike conventional electrical stimulation.

  Specifically, the stimulation electrode is brought into contact with the afferent nerve, and a predetermined electrical signal is sent to apply electrical stimulation to the afferent nerve and to sense the terminal position of the finger (mechanical receptor of the afferent nerve). Give rise to

  Thus, tactile sensation can be generated at a position different from the stimulation position by electrical stimulation to the afferent nerve. That is, it is possible to cause a deviation between the stimulation position and the perceived position. For this reason, there is no need to intervene a device between the fingertip and the tool, the operation of the tool is not hindered by other devices, the tool can be directly gripped by the fingertip, and a sense of incongruity in operation occurs There is nothing to do.

  And since there is no muscle at the terminal position of the finger, there is no movement due to electrical stimulation, and the degree of freedom of work by the operator is not constrained.

  The inventor has further studied and found that a tactile sensation can be perceived at an arbitrary position between two points in the short axis direction by appropriately controlling the stimulation frequency at the two stimulation electrodes.

  Specifically, for example, a cathode (stimulation electrode) and a GND electrode (ground electrode) are arranged in the vicinity of the second joint of the middle segment of the index finger and the proximal segment (palm side), respectively, and the two afferent nerves, A current corresponding to each of them is allowed to flow independently, and by appropriately adjusting the two currents, a tactile sensation can be perceived at an arbitrary position in the short axis direction of the terminal node position of the finger.

  In this case, it is preferable to calibrate in advance so that the sensory amount between the two stimulation electrodes is unified.

  The invention of this claim is based on these findings and separates the stimulus position and the perceived position, and further controls the perceived position appropriately, so that the information is multi-degree of freedom by tactile sense in a compact presentation unit. Presentation is possible.

  That is, since the stimulus position and the perceived position are separated, there is no device between the fingertip and the tool (transparent transparent type), there is no sense of incongruity in tool operation, and force is generated. Since only the tactile sensation can be presented at any position, the tool operation is not hindered and the degree of freedom of information presentation is high. For this reason, effective and practical tool support, especially surgery support can be performed.

  In addition, since it is an electric type unlike a conventional mechanical type, it can be easily made compact, that is, can be reduced in size and weight, and the cost can be further reduced. For this reason, it can be expected not only for highly advanced medical treatment but also for general household use and industrial use.

  In the above, the “predetermined electrical signal” means an electrical signal necessary to make the sense of touch sense. For example, the position and orientation of the tool are measured, and based on the result, the stimulation pattern is calculated by a computer program. , And an electrical signal or the like generated corresponding to the stimulation pattern.

The invention described in claim 2
The spatially transparent tactile sense presentation device according to claim 1, wherein the stimulation electrode is in contact with the vicinity of a finger joint.

In the vicinity of the joint, the afferent nerve runs in a shallow part of the skin, so it can reliably stimulate not only the local nerve but also the nerve that extends to the periphery, which can cause a stable shift between the stimulation position and the perception position. It is possible to generate a tactile sensation at the fingertip node.

The invention according to claim 3
The spatially transparent tactile sense presentation device according to claim 1, wherein the stimulation electrode is in contact with a vicinity of a second joint of a phalanx between a first joint and a second joint of the finger. It is.

Since the position of the afferent nerve running near the second joint of the phalanx between the first joint and the second joint of the finger is particularly close to the skin surface, the nerve extending to the periphery can be stimulated reliably. It is possible to cause a deviation.

  In the above description, the “finger joint between the first joint and the second joint of the finger” indicates the base joint in the case of the thumb and the middle joint in the other fingers.

The invention according to claim 4
The spatially transparent tactile sense presentation device according to any one of claims 1 to 3, wherein the electrical signal is a negative voltage pulse signal.

  In order to cause movement of the sense, it is preferably a negative voltage pulse signal.

The invention described in claim 5
The spatially transparent tactile sense presentation device according to claim 4, wherein the pulse signal is a pulse signal having a constant wave height and a controlled frequency.

  Since the wave height that causes the movement of the sensation varies from person to person, it is preferable to use a pulse signal having a constant wave height and a controlled frequency in order to appropriately exhibit the movement of the sensation.

The invention described in claim 6
6. The spatially transparent haptic presentation device according to claim 4, wherein the pulse signal is a pulse signal having a voltage of −100 to −300 V, a frequency of 0 to 100 Hz, and a width of 100 to 200 μs. It is.

  As a pulse signal for appropriately stimulating the afferent nerve to generate a tactile sensation, a pulse signal having a voltage of −100 to −300 V, a frequency of 0 to 100 Hz, and a width of 100 to 200 μs is preferable.

The invention described in claim 7
Two sets of the two stimulation electrodes and one ground electrode are prepared,
The spatially transparent tactile sense presentation device according to any one of claims 1 to 6, wherein one set is attached to a thumb and the other set is attached to an index finger.

  By causing appropriate movements of the thumb, the index finger, and the two fingers, the sense of touch can be more reliably perceived.

The invention according to claim 8 provides:
At least one stimulation electrode abutted along the afferent nerve running on both sides of the finger;
One ground electrode that is in contact with the palm side of the stimulation electrode;
The stimulation electrode has an electric signal generation unit that gives a predetermined electric signal in which at least one of a wave height and a frequency corresponding to the stimulation electrode terminal is controlled,
Generating electrical stimulation in the afferent nerve by applying the electrical signal to the stimulation electrode;
A spatially transparent tactile sensation presentation apparatus characterized in that a tactile sensation is generated at a terminal position of a finger different from a stimulation position by the electrical stimulation.

  The number of stimulation electrodes is not necessarily limited to two. Even with one, a tactile sensation can be generated at a position away from the stimulation position. Furthermore, a tactile sensation can be generated more effectively by appropriately arranging three or more stimulation electrodes.

The invention according to claim 9 is:
A tool operation support system using the spatially transparent tactile sense presentation device according to any one of claims 1 to 8.

  A tool operation support system having a spatially transparent tactile sense presentation device capable of generating a tactile sensation without interposing a device between a fingertip and a tool is compact, and the tool operation is not hindered. Information can be presented as a tactile sensation at an appropriate position, and various tool operations can be efficiently supported.

  As a specific example of such a tool operation support system, for example, a calligraphy for remotely instructing a surgical support system such as an endoscopic tactile forceps that presents a tactile sensation of an organ in endoscopic surgery, a calligraphy writing method, etc. Examples include an educational system, a prototyping system for experiencing the touch and feel of a car handle or clothing prototyped on a computer, and an expanded version of a vibration remote control for experiencing the tactile sensation with a game remote control.

The invention according to claim 10 is:
The tool operation support system according to claim 9, wherein the tool operation support system is a surgery support system.

  Since there are many important parts in surgery, this is a compact surgery support system that can present contact information with dangerous areas as a tactile sensation without being disturbed by tool operation. The advantages of adopting the tool operation support system according to the invention are immeasurable.

  According to the present invention, a device is not interposed between the fingertip and the tool (transparent transparent type), and there is no sense of incongruity in operation. It is possible to provide a compact tactile sense presentation technology.

1 is an overall configuration diagram of a spatially transparent haptic presentation device according to an embodiment of the present invention. It is a figure which shows the flow of a process of the tactile sense production | generation by the electrical stimulation in one embodiment of this invention. It is a figure which shows a mode that the irritation | stimulation position and the perception position are isolate | separated when an electrical irritation | stimulation is given to the finger | toe. It is a figure which shows the circuit centering on the electric tactile-sense generator for giving an electrical stimulus to a finger | toe. It is a figure which shows a mode that the position of an electrode is changed in order to give electrical stimulation to each place of the right index finger. It is a figure which shows a mode that a stimulus is simultaneously given, controlling a frequency to the both sides | surfaces of the base of the middle finger | toe of an index finger, and the tactile sensation is made to feel at the specific location of the front-end | tip of a finger | toe. It is a figure which shows the measurement result of the position where the frequency which applies electrical stimulation, and a tactile sense arise.

  Hereinafter, the present invention will be described based on embodiments. Note that the present invention is not limited to the following embodiments. Various modifications can be made to the following embodiments within the same and equivalent scope as the present invention.

The present embodiment relates to a surgery support system among tool operation support systems.
(1) Overall Configuration First, the overall configuration of the spatially transparent tactile sense presentation device of the present embodiment will be described with reference to FIG. FIG. 1 is an overall configuration diagram of a spatially transparent haptic presentation device according to the present embodiment.

  In FIG. 1, 110 is a GND (earth) electrode mounting band for the thumb, 120 is a stimulation electrode mounting band for the thumb, 130 is a GND electrode mounting band for the index finger, and 140 is an index finger. 810 is a personal computer, 820 is a memory, 830 is an electric tactile sensation generator, 831 is a connection line for stimulation current of the thumb, and 832 is for stimulation current of the index finger. 850 is a sensor, 851 is a signal line from the sensor, 890 is a surgical tool such as a scalpel (laser scalpel), 900 is an organ, 901 is a tumor, and 920 is a nerve It is. Further, the upward arrow in the upper center of the organ 900 indicates that a tactile sensation is generated in a direction away from the dangerous area in order to alert the doctor.

  In the present embodiment, as shown in FIG. 1, a doctor is trying to remove a tumor 901 formed in an organ 900 by holding a surgical tool 890 with the thumb, index finger, and middle finger. A stimulation electrode mounting band 120 for the thumb is wound around the second joint of the thumb joint, and a GND electrode mounting band 110 for the thumb is wound around the palm side of the second joint. Further, a stimulation electrode mounting band 140 for the index finger is wound around the proximal side of the middle segment of the index finger, and a GND electrode mounting band 130 for the index finger is wound around the base node.

  The sensor 850 monitors the movement of the surgical tool 890, and the monitoring result is input to the personal computer 810 via the signal line 851. In the memory 820 in the personal computer 810, position data and three-dimensional shape data regarding the organ 900 obtained in advance by CT scan are input. The personal computer 810 recognizes when the surgical tool 890 approaches the nerve 920 and instructs the electric tactile sensation generator 830 to generate a predetermined electric signal. When a predetermined electric signal is generated from the electric tactile sensation generation device 830, a tactile sensation in a direction that avoids a warning danger area is generated at a predetermined position in the short axis direction of the last node of the thumb and index finger by the stimulation.

  In the present invention, only a tactile sensation is generated, and no force is generated unlike a conventional smart tool. For this reason, it is up to the doctor to determine whether or not the surgical tool 890 is closer to the nerve 920 than at present.

(2) Overall Control Next, overall control of the spatially transparent tactile sense presentation device shown in FIG. 1 will be described with reference to FIG. FIG. 2 is a diagram showing a flow of processing for generating a tactile sensation by electrical stimulation in the present embodiment.

  In FIG. 2, 811 is a position measuring means, 812 is an alignment means, 813 is a reaction force generation calculating means, 814 is a means for converting to a stimulus, and all the actions by these means are square broken lines. The calculation is performed according to a program stored in the personal computer 810 shown in FIG. Further, the memory 820 stores the three-dimensional shape data 821 of the organ and the dangerous area acquired in advance by CT scan or the like as described above.

  The doctor 840 operates the surgical tool 890 directly in the hand, the movement is captured by the sensor 850, and data regarding the movement of the surgical tool 890 is input to the personal computer 810. In the personal computer 810, alignment is performed with reference to the three-dimensional shape data 821 of the organ and the dangerous area input in advance. Then, a calculation for generating a tactile sensation corresponding to a predetermined reaction force is performed as necessary, and a predetermined electric signal based on the above calculation is generated in the electric tactile sensation generating device 830, and each stimulation electrode of FIG. An electrical signal is transmitted to the afferent nerves on both sides of the finger through the stimulation electrode attached to the attachment band, and a predetermined tactile sensation is generated on the thumb and forefinger of the doctor 840 by the stimulation, and attention is given.

Next, FIG. 4 shows a configuration of a device for applying an electrical stimulus to a finger. In FIG. 4, reference numeral 835 denotes an electric tactile sensation generating unit for the thumb, 111 denotes an electrode of the GND electrode mounting band 110 for the thumb, 121 and 122 denote electrodes of the stimulation electrode mounting band 120 for the thumb, The contact area is about 4 mm ² . As a result, it is possible to easily attach the finger to the finger and to give an appropriate electrical stimulus, and even if attached, the work at the fingertip will not be hindered.

(3) Generation of tactile sensation Next, generation of a multi-degree-of-freedom tactile sensation with a stimulus by an electric signal will be described.

(A) Electrical Stimulation Position and Tactile Generation Position The relationship between the electrical stimulation position, the tactile generation position, and both positions will be described with reference to FIG. FIG. 3 is a diagram illustrating a state where the stimulation position and the perceived position are separated when an electrical stimulation is applied to the finger. FIG. 3A is a view of the index finger as seen from above with the palm facing upward and further horizontal, and FIG. 3B shows a part of the index finger. In FIG. 3, 200 is a finger, 210 is a terminal node, 220 is a middle node, 230 is a proximal node, 241 is a left afferent nerve, and 242 is a right afferent nerve. Reference numeral 261 denotes a left electrical stimulation application location, 262 denotes a right electrical stimulation application location, 250 denotes a tactile sense generation location, and 263 denotes a GND (ground) electrode. In the above description, the right and left indicate directions viewed from the back of the hand.

  As shown in FIG. 3A, the left and right afferent nerves 241 and 242 that sense the tactile sensation of the tip of the hand both pass near the surface of the side surface of the finger 200. From the anatomical structure, if the proximal side of the middle segment 220 of the finger 200 of the left and right afferent nerves 241 and 242, that is, the vicinity of the second joint, is electrically stimulated, the left and right of the terminal node 210 of the finger 200 respectively. A tactile sensation (compression) occurs.

  The reason why the electrical stimulation application locations 261 and 262 are the side surfaces in the vicinity of the second joint of the middle joint 220 is that the left and right afferent nerves 241 and 242 are not branched, the electrical resistance of the skin is small, and there is no muscle. This is because finger movement does not occur.

  That is, as shown in FIG. 3B, when an electrical stimulus is applied to the electrical stimulus application location 261, a tactile sensation due to the stimulus is generated at the tactile sensation generation location 250, specifically, the mechanoreceptor. To do. For this reason, as shown by the white arrow in FIG. 3B, there is a difference between a place where an electrical stimulus is applied and a place where a tactile sensation is generated by the stimulus.

  Since this deviation occurs, it becomes possible to feel a tactile sensation while directly holding a medical device such as the surgical tool 890 at the tip of each finger without being affected by each electrode.

(B) Experiment on deviation between stimulation position and tactile sensation generation position With respect to nine healthy men as subjects, an experiment was conducted on a deviation between a place where an electrical stimulus is applied and a place where a tactile sensation occurs due to the stimulus.

  The contents of the experiment will be described with reference to FIG. FIG. 5 is a diagram illustrating a state in which the position of the stimulation electrode is changed in order to apply electrical stimulation to various portions of the right index finger. As shown in FIG. 5, in the experiment, the position of the stimulation electrode was changed, electrical stimulation was given to each part of the right index finger, and the part where the tactile sensation was felt was investigated. In addition, the grid of FIG. 5 is 4 mm. The electrical stimulation pulse used was a pulse having a period of 0.1 s and a width of 200 μs, in which a clear sense of vibration was obtained and adaptation was difficult to occur.

  Table 1 shows combinations of the GND and cathode positions of the electrodes. As shown in Table 1, measurements were made at a total of 10 locations. The alphabets in Table 1 correspond to the positions of the alphabets displayed on the left side of FIG. 5, and the numbers correspond to the numbers displayed on the top of FIG.

  Table 2 shows the correspondence between places where electrical stimulation was given and places where a tactile sensation was felt. In addition, the position of the cathode and the perceived position (average value) in Table 2 are the positions in the length direction and the width (short axis) direction of I-1 in FIG. 5 (the lower left position in the bottom finger diagram). Displayed as the origin (0, 0).

  As shown in Table 2, the average value of the perceived position in the length direction is smaller than the number indicating the position in the length direction of the cathode (the number on the left side in parentheses). Thereby, it can be seen that, in the long axis direction of the finger, the perceived position is perceived at a site close to the fingertip node with respect to the stimulation electrode position. In particular, it can be seen that the stimulation of the middle segment occurs in the terminal segment when the electrode is located directly below the finger side surface. Furthermore, when the standard deviation is considered, it can be seen that the perceived position is not included in the range of the stimulation position.

(C) Generation of multiple haptics Next, the generation of multiple haptics will be described. In this method, a tactile sensation is generated at a specific location by utilizing a phenomenon (stimulus movement, phantom sensation, phantom sensation) that generates a stimulation image between both stimulation points when two sites are stimulated simultaneously.

  The phantom sensation will be described with reference to FIGS. 6 and 7 for an experiment conducted by changing the frequency from 25 to 100 Hz for six subjects. Fig. 6 shows the short axis direction of the tip (perpendicular to the super-axis direction of the finger) by simultaneously stimulating the area from the abdomen on both the left and right sides near the base of the middle segment of the index finger and controlling the frequency. It is a figure which shows a mode that a tactile sense, ie, the information of multiple degrees of freedom, is shown to this location. Moreover, FIG. 7 is a figure which shows the measurement result of the position where the frequency which applies electrical stimulation, and a tactile sense generate | occur | produce.

  In FIG. 6, 263 is a GND electrode, 255 is a tactile sensation occurrence location, and d is a distance from the lower end of the tactile sensation occurrence location 255 in the drawing. The lower end is 0.00 and the upper end is 1.00. In FIG. 7, the horizontal axis is a variable γ defined by {(f1−f2) / max [f1, f2]} when the frequency of stimulation applied to the left and right electrodes is taken, and the vertical axis is the distance d. It is. Further, max [f1, f2] indicates the larger frequency of f1 and f2.

  As can be seen from FIG. 7, γ is substantially proportional to d, and as can be seen from FIGS. 6 and 7, the center position of the tactile sensation has a large frequency in either the left or right electrode (up and down in FIG. 6). The ratio of the amount of movement to the electrode side and further to the left and right with respect to the left and right width of the finger is proportional to the quotient obtained by dividing the difference between the left and right frequencies by the larger frequency. This will be specifically described with reference to FIG. For example, if the left and right frequencies are the same, γ = 0 and tactile sensation occurs at d = 0.50, that is, at the center of the left and right sides of the finger. If the right (f1) is 100 and the left (f2) is 0, γ = 1, and the tactile sensation is d = 1.00, so that it occurs on the right side of the finger. If the right (f1) is 0 and the left (f2) is 100, γ = −1, and the tactile sensation is d = 0.00.

  In addition, although it is planar in FIG. 6, the abdominal section of an actual person's finger is substantially elliptical. And the part which feels a tactile sense by the said phantom sensation exists on this ellipse. It is also possible to make a tactile vector expression by approaching the abdominal section of the finger with a circle.

(D) Occurrence of actual tactile sensation The gripping of a tool by a finger depends on the tool, but is generally held by the abdomen of the tip of the thumb and index finger and the right side of the middle finger (right-handed person), and the thumb and index finger The tactile sensation of the tip of the abdomen is used, and the side of the middle finger is used for holding. Therefore, in consideration of this, generally, a tactile sensation is generated at the abdomen of the tip of the thumb and index finger.

(E) Stimulation waveform and stabilization Since it is necessary to stimulate nerves in a shallow part of the skin in order to cause sensory movement, stimulation is performed with a cathode current instead of an anode current. However, because there is a tactile (pressing) receptor at the stimulation position, only a receptor at the stimulation position is selectively stimulated in the case of a weak stimulation that does not stimulate the deep nerve extending to the terminal node. . For this reason, in order to surely cause the movement (displacement) of the sense, a certain amount of stimulation, experientially, a stimulation amount of about 200 V is required.

  The human skin resistance is several tens of kΩ, and a current of at least 0.1 mA is required to perceive a tactile sense with electrical stimulation. For this reason, the voltage is preferably about 200v. Further, in order to simulate neural activity with an electric pulse signal, a width of 200 μs and a period of about 1 to 1000 ms are preferable.

  The present invention can be used in industrial fields that require high-level manual work, such as surgery in the medical industry, calligraphy in the education industry, and remote control operation in the game industry.

110 GND electrode mounting band for thumb 111 GND electrode mounting band electrode for thumb 120 Stimulation electrode mounting band for thumb 121, 122 Stimulation electrode mounting band electrode for thumb 130 GND electrode mounting for index finger Band 140 Band for attaching stimulation electrode for index finger 200 Finger 210 Terminal segment 220 Middle segment 230 Base segment 241 Left afferent nerve 242 Right afferent nerve 250, 255 Tactile sensation generation site 261 Left electrical stimulation application site 262 Right electrical stimulation Application location 263 GND electrode 810 Personal computer 811 Position measurement means 812 Positioning means 813 Reaction force generation calculation means 814 Stimulus conversion means 820 Memory 821 Three-dimensional shape data 830 Electric tactile sensation generator 831 Connection line 832 for thumb stimulation current Index finger Connection line for stimulation current of 835 Electric contact for thumb Signal line 890 surgical tool 900 organ 901 tumor 920 nerves from generator 840 Physicians 850 sensor 851 sensor

Claims (10)

Two stimulation electrodes abutted along each of the two afferent nerves running on both sides of the finger;
One ground electrode that is in contact with the palm side of the two stimulation electrodes;
Each of the stimulation electrodes has an electrical signal generator that provides a predetermined electrical signal that controls at least one of a wave height and a frequency corresponding to each of the stimulation electrode terminals,
Providing the electrical signal to each of the stimulation electrodes to generate electrical stimulation in the two afferent nerves;
A spatially transparent tactile sensation presentation apparatus characterized in that a tactile sensation is generated at a terminal position of a finger different from the stimulation position by the electrical stimulation.
  The spatially transparent tactile sense presentation device according to claim 1, wherein the stimulation electrode is in contact with the vicinity of a finger joint.   The spatially transparent tactile sense presentation device according to claim 1, wherein the stimulation electrode is in contact with a vicinity of a second joint of a phalanx between a first joint and a second joint of the finger. .   The spatially transparent tactile sense presentation device according to any one of claims 1 to 3, wherein the electrical signal is a negative voltage pulse signal.   The spatially transparent tactile sensation presentation apparatus according to claim 4, wherein the pulse signal is a pulse signal having a constant wave height and a controlled frequency.   6. The spatially transparent haptic presentation device according to claim 4, wherein the pulse signal is a pulse signal having a voltage of −100 to −300 V, a frequency of 0 to 100 Hz, and a width of 100 to 200 μs. . Two sets of the two stimulation electrodes and one ground electrode are prepared,
The spatially transparent tactile sense presentation device according to any one of claims 1 to 6, wherein one set is attached to a thumb and the other set is attached to an index finger. At least one stimulation electrode abutted along the afferent nerve running on both sides of the finger;
One ground electrode that is in contact with the palm side of the stimulation electrode;
The stimulation electrode has an electric signal generation unit that gives a predetermined electric signal in which at least one of a wave height and a frequency corresponding to the stimulation electrode terminal is controlled,
Generating electrical stimulation in the afferent nerve by applying the electrical signal to the stimulation electrode;
A spatially transparent tactile sensation presentation apparatus characterized in that a tactile sensation is generated at a terminal position of a finger different from the stimulation position by the electrical stimulation.
  A tool operation support system using the spatially transparent tactile sense presentation device according to any one of claims 1 to 8.   The tool operation support system according to claim 9, wherein the tool operation support system is a surgery support system.

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