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

Shohei Fujino, Daisuke Sato, Koyu Abe, Atsushi Konno, Masaru Uchiyama

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

    7 Citations (Scopus)

    Abstract

    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 microscissors 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.

    Original languageEnglish
    Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    Pages2067-2072
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Sep 18
    Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
    Duration: 2008 May 192008 May 23

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    CountryUnited States
    CityPasadena, CA
    Period08/5/1908/5/23

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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