Conference Paper

Displaying feeling of cutting by a micro-scissors type haptic device

Dept. of Aero Space Eng., Tohoku Univ., Sendai
DOI: 10.1109/ROBOT.2008.4543511 Conference: Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Source: IEEE Xplore


In this paper, a method for displaying feeling of cutting by a micro-scissors type haptic device is described. Micro-scissors are a type of surgical instrument, which is frequently used in brain surgery under a microscope. A prototype of a micro-scissors type haptic device consists of three components: an interface, a drive member, and force sensors. The interface is designed to equip features of a pair of micro-scissors and has a blade spring on its end. The drive member is composed of two DC-motors and two crank-lever mechanisms as decelerators. The force sensors are composed of strain gauges with H-slits, and implemented into each handle of the interface. For the aid of applying the force sensors to feedback control of cutting resistance forces, compensation for influence of a blade spring on the force sensors is added. Evaluation experiment for basic performance of the device is carried out, and the device is proved to be able to generate the computed cutting resistance forces. Virtual cutting experiment by six subjects is carried out, and it is proved that the device is able to display feeling of cutting.

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    • "Force and tactile feedback associated with the fracture of structures or materials is necessary for the haptic simulation of the manipulation of fragile materials or surgical and sculptural procedures. For example, methods for displaying reaction forces when cutting soft tissue with scissors (Fujino et al. 2008; Okamura et al. 2003; Wakamatsu et al. 1998) or when burring or cutting teeth or bones have been studied (Wang et al. 2005; Agus et al. 2003; Arbabtafti et al. 2011). In the case of fragile structures, for which the yield forces are so small that they are hardly perceived, tactile stimuli have a greater perceptual importance than force stimuli . "
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    • "Various methods have been employed for this purpose, for example, comparing the similarity of physical quantities, such as force or skin deformation, between virtual and real stimuli (e.g. [1], [2]). However, studying the physical similarity is not sufficient, and researchers often exploit the evaluation of perceptual similarity. "
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    ABSTRACT: In recent medical field, surgical simulation with the technique of virtual reality is expected to provide a new means for surgical training. In this research, we developed a simulation for brain surgeries, in which dynamic deformation model is used for describing dissection involved. Thus, in this research, the effect of the speed and acceleration of surgical tools is considered in the calculation of deformation and reaction force. The proposed method in this paper ensures smoothed expression of the reaction force and tissues' deformation.
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