Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-Type Haptic Interface Using MR Fluid

Teppei Tsujita, Kazuya Sasc, Xiaoshuai Chen, Masashige Tomita, Atsushi Konno, Masano Nakayama, Atsuhiro Nakagawa, Koyu Abe, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A procedure to retract brain tissue is a fundamental and important procedure for accessing a lesioned part located in the deep brain in neurosurgery. In order to provide a training environment to novice surgeons, a prototype of a surgical simulator which can simulate the retraction of soft tissue utilizing the advantage of an encountered-type haptic interface using MR fluid has been developed. In this paper, a force controller for displaying a retracting force of soft biological tissue with a spatula is proposed. The haptic interface was connected with a simple FEM (Finite Element Method) based simulator and displayed the computed reaction force from virtual tissue by using the proposed controller.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages898-903
Number of pages6
ISBN (Electronic)9781728103761
DOIs
Publication statusPublished - 2018 Jul 2
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 2018 Dec 122018 Dec 15

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/TerritoryMalaysia
CityKuala Lumpur
Period18/12/1218/12/15

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

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