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

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

研究成果: Conference contribution

7 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIEEE Haptics Symposium, HAPTICS
出版者IEEE Computer Society
ページ283-288
ページ数6
ISBN(印刷物)9781479931316
DOI
出版物ステータスPublished - 2014
外部発表Yes
イベント2014 IEEE Haptics Symposium, HAPTICS 2014 - Houston, TX, United States
継続期間: 2014 2 232014 2 26

Other

Other2014 IEEE Haptics Symposium, HAPTICS 2014
United States
Houston, TX
期間14/2/2314/2/26

Fingerprint

Haptic interfaces
Simulators
Tissue
Frequency response
Containers
Fluids
Force control
Surgery
Virtual reality
Feedback control
Bandwidth
Planning
Controllers
Sensors
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

これを引用

Kameyama, T., Tsujita, T., Konno, A., Jiang, X., Abiko, S., & Uchiyama, M. (2014). Displaying cutting force of soft tissue using MR fluid for surgical simulators. : IEEE Haptics Symposium, HAPTICS (pp. 283-288). [6775468] IEEE Computer Society. https://doi.org/10.1109/HAPTICS.2014.6775468

Displaying cutting force of soft tissue using MR fluid for surgical simulators. / Kameyama, Takuya; Tsujita, Teppei; Konno, Atsushi; Jiang, Xin; Abiko, Satoko; Uchiyama, Masaru.

IEEE Haptics Symposium, HAPTICS. IEEE Computer Society, 2014. p. 283-288 6775468.

研究成果: Conference contribution

Kameyama, T, Tsujita, T, Konno, A, Jiang, X, Abiko, S & Uchiyama, M 2014, Displaying cutting force of soft tissue using MR fluid for surgical simulators. : IEEE Haptics Symposium, HAPTICS., 6775468, IEEE Computer Society, pp. 283-288, 2014 IEEE Haptics Symposium, HAPTICS 2014, Houston, TX, United States, 14/2/23. https://doi.org/10.1109/HAPTICS.2014.6775468
Kameyama T, Tsujita T, Konno A, Jiang X, Abiko S, Uchiyama M. Displaying cutting force of soft tissue using MR fluid for surgical simulators. : IEEE Haptics Symposium, HAPTICS. IEEE Computer Society. 2014. p. 283-288. 6775468 https://doi.org/10.1109/HAPTICS.2014.6775468
Kameyama, Takuya ; Tsujita, Teppei ; Konno, Atsushi ; Jiang, Xin ; Abiko, Satoko ; Uchiyama, Masaru. / Displaying cutting force of soft tissue using MR fluid for surgical simulators. IEEE Haptics Symposium, HAPTICS. IEEE Computer Society, 2014. pp. 283-288
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