Virtual surgery system with haptic sensation for both hands

N. Suzuki, A. Hattori, S. Suzuki, Yoshitaka Adachi, T. Kumano, A. Ikemoto, A. Takatsu

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

2 Citations (Scopus)

Abstract

We have developed a virtual surgery system which is able to handle organs as elastic models and obtain a haptic sensation with force feedback in real time. We tried to design a system that would allows us to physically manipulate, or incise these soft tissue models in virtual space. When the elastic organs are significantly incised both the organ's surface and inner structures become deformed or distorted. These changes occur at a speed identical to real time. The features of the device developed for our virtual surgery system are summarized as follows. At first, the force feedback system is divided in two type manipulators, a force control manipulator and a motion control manipulator. We tried to design three force control manipulators for fingers. These are attached to the end of the motion control manipulator. Second, both ends of each force control manipulator are attached to the thumb, forefinger and middle finger of the operator. The user is able to handle an elastic organ using two manipulators on the right and left hands. In our virtual surgery system, it is possible to perform surgical manuevers at a speed approaching that of the actual procedure, while experiencing a sense of touch. In this paper, we have applied this system to surgery in the abdominal region. This surgical experience, in which a patient's morphological characteristics are reproduced in a virtual environment, will allow the establishment of a new method of clinically applicable surgery as well as an educational innovation.

Original languageEnglish
Title of host publicationAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
EditorsJ.D. Enderle
Pages2419-2422
Number of pages4
Volume4
Publication statusPublished - 2000
Externally publishedYes
Event22nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society - Chicago, IL, United States
Duration: 2000 Jul 232000 Jul 28

Other

Other22nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society
CountryUnited States
CityChicago, IL
Period00/7/2300/7/28

Fingerprint

Surgery
Manipulators
Force control
Motion control
Feedback
Virtual reality
Innovation
Tissue

Keywords

  • Force feedback device
  • Surgical simulation
  • Virtual reality
  • Virtual surgery

ASJC Scopus subject areas

  • Bioengineering

Cite this

Suzuki, N., Hattori, A., Suzuki, S., Adachi, Y., Kumano, T., Ikemoto, A., & Takatsu, A. (2000). Virtual surgery system with haptic sensation for both hands. In J. D. Enderle (Ed.), Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings (Vol. 4, pp. 2419-2422)

Virtual surgery system with haptic sensation for both hands. / Suzuki, N.; Hattori, A.; Suzuki, S.; Adachi, Yoshitaka; Kumano, T.; Ikemoto, A.; Takatsu, A.

Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. ed. / J.D. Enderle. Vol. 4 2000. p. 2419-2422.

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

Suzuki, N, Hattori, A, Suzuki, S, Adachi, Y, Kumano, T, Ikemoto, A & Takatsu, A 2000, Virtual surgery system with haptic sensation for both hands. in JD Enderle (ed.), Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. vol. 4, pp. 2419-2422, 22nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, IL, United States, 00/7/23.
Suzuki N, Hattori A, Suzuki S, Adachi Y, Kumano T, Ikemoto A et al. Virtual surgery system with haptic sensation for both hands. In Enderle JD, editor, Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. Vol. 4. 2000. p. 2419-2422
Suzuki, N. ; Hattori, A. ; Suzuki, S. ; Adachi, Yoshitaka ; Kumano, T. ; Ikemoto, A. ; Takatsu, A. / Virtual surgery system with haptic sensation for both hands. Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings. editor / J.D. Enderle. Vol. 4 2000. pp. 2419-2422
@inproceedings{1dadf96aad4247a0a57e7e7852b7916d,
title = "Virtual surgery system with haptic sensation for both hands",
abstract = "We have developed a virtual surgery system which is able to handle organs as elastic models and obtain a haptic sensation with force feedback in real time. We tried to design a system that would allows us to physically manipulate, or incise these soft tissue models in virtual space. When the elastic organs are significantly incised both the organ's surface and inner structures become deformed or distorted. These changes occur at a speed identical to real time. The features of the device developed for our virtual surgery system are summarized as follows. At first, the force feedback system is divided in two type manipulators, a force control manipulator and a motion control manipulator. We tried to design three force control manipulators for fingers. These are attached to the end of the motion control manipulator. Second, both ends of each force control manipulator are attached to the thumb, forefinger and middle finger of the operator. The user is able to handle an elastic organ using two manipulators on the right and left hands. In our virtual surgery system, it is possible to perform surgical manuevers at a speed approaching that of the actual procedure, while experiencing a sense of touch. In this paper, we have applied this system to surgery in the abdominal region. This surgical experience, in which a patient's morphological characteristics are reproduced in a virtual environment, will allow the establishment of a new method of clinically applicable surgery as well as an educational innovation.",
keywords = "Force feedback device, Surgical simulation, Virtual reality, Virtual surgery",
author = "N. Suzuki and A. Hattori and S. Suzuki and Yoshitaka Adachi and T. Kumano and A. Ikemoto and A. Takatsu",
year = "2000",
language = "English",
volume = "4",
pages = "2419--2422",
editor = "J.D. Enderle",
booktitle = "Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings",

}

TY - GEN

T1 - Virtual surgery system with haptic sensation for both hands

AU - Suzuki, N.

AU - Hattori, A.

AU - Suzuki, S.

AU - Adachi, Yoshitaka

AU - Kumano, T.

AU - Ikemoto, A.

AU - Takatsu, A.

PY - 2000

Y1 - 2000

N2 - We have developed a virtual surgery system which is able to handle organs as elastic models and obtain a haptic sensation with force feedback in real time. We tried to design a system that would allows us to physically manipulate, or incise these soft tissue models in virtual space. When the elastic organs are significantly incised both the organ's surface and inner structures become deformed or distorted. These changes occur at a speed identical to real time. The features of the device developed for our virtual surgery system are summarized as follows. At first, the force feedback system is divided in two type manipulators, a force control manipulator and a motion control manipulator. We tried to design three force control manipulators for fingers. These are attached to the end of the motion control manipulator. Second, both ends of each force control manipulator are attached to the thumb, forefinger and middle finger of the operator. The user is able to handle an elastic organ using two manipulators on the right and left hands. In our virtual surgery system, it is possible to perform surgical manuevers at a speed approaching that of the actual procedure, while experiencing a sense of touch. In this paper, we have applied this system to surgery in the abdominal region. This surgical experience, in which a patient's morphological characteristics are reproduced in a virtual environment, will allow the establishment of a new method of clinically applicable surgery as well as an educational innovation.

AB - We have developed a virtual surgery system which is able to handle organs as elastic models and obtain a haptic sensation with force feedback in real time. We tried to design a system that would allows us to physically manipulate, or incise these soft tissue models in virtual space. When the elastic organs are significantly incised both the organ's surface and inner structures become deformed or distorted. These changes occur at a speed identical to real time. The features of the device developed for our virtual surgery system are summarized as follows. At first, the force feedback system is divided in two type manipulators, a force control manipulator and a motion control manipulator. We tried to design three force control manipulators for fingers. These are attached to the end of the motion control manipulator. Second, both ends of each force control manipulator are attached to the thumb, forefinger and middle finger of the operator. The user is able to handle an elastic organ using two manipulators on the right and left hands. In our virtual surgery system, it is possible to perform surgical manuevers at a speed approaching that of the actual procedure, while experiencing a sense of touch. In this paper, we have applied this system to surgery in the abdominal region. This surgical experience, in which a patient's morphological characteristics are reproduced in a virtual environment, will allow the establishment of a new method of clinically applicable surgery as well as an educational innovation.

KW - Force feedback device

KW - Surgical simulation

KW - Virtual reality

KW - Virtual surgery

UR - http://www.scopus.com/inward/record.url?scp=0034445040&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034445040&partnerID=8YFLogxK

M3 - Conference contribution

VL - 4

SP - 2419

EP - 2422

BT - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings

A2 - Enderle, J.D.

ER -