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

    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
    CountryMalaysia
    CityKuala Lumpur
    Period18/12/1218/12/15

    ASJC Scopus subject areas

    • Biotechnology
    • Artificial Intelligence
    • Human-Computer Interaction

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