Displaying cutting force of soft tissue using MR fluid for surgical simulators

Takuya Kameyama, Teppei Tsujita, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama

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

10 Citations (Scopus)


For improving surgical techniques of novice surgeons or preoperative planning, development of practical surgical simulators utilizing virtual reality technology have been expected in the medical field. During surgery, a surgeon uses a variety of surgical instruments. Therefore, a haptic interface should be able to display reaction force through various surgical instruments. Based on this concept, a novel encountered-type haptic interface using MR (Magneto-Rheological) fluid for surgical simulators was developed. In this paper, a force feedback control scheme using a force sensor mounted on a MR fluid container is proposed. By using this scheme, performance of frequency response and effectiveness of the proposed control scheme are evaluated. In this frequency response experiment, it is evaluated that a force bandwidth of the closed-loop controller for the fluid is 200 [Hz] and it has sufficient performance to replicate vibratory cutting force of soft tissue. Moreover, by moving the container, the proposed scheme can display force based on reference force while the knife stops. Therefore, the proposed method can replicate cutting force of soft tissue correctly, and has sufficient performance to be used as surgical simulators.

Original languageEnglish
Title of host publicationIEEE Haptics Symposium 2014, HAPTICS 2014 - Proceedings
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9781479931316
Publication statusPublished - 2014
Externally publishedYes
Event2014 IEEE Haptics Symposium, HAPTICS 2014 - Houston, TX, United States
Duration: 2014 Feb 232014 Feb 26

Publication series

NameIEEE Haptics Symposium, HAPTICS
ISSN (Print)2324-7347
ISSN (Electronic)2324-7355


Other2014 IEEE Haptics Symposium, HAPTICS 2014
Country/TerritoryUnited States
CityHouston, TX


  • Force feedback
  • Haptic interface
  • MR fluid
  • Surgical simulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction


Dive into the research topics of 'Displaying cutting force of soft tissue using MR fluid for surgical simulators'. Together they form a unique fingerprint.

Cite this