TY - GEN
T1 - Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-Type Haptic Interface Using MR Fluid
AU - Tsujita, Teppei
AU - Sasc, Kazuya
AU - Chen, Xiaoshuai
AU - Tomita, Masashige
AU - Konno, Atsushi
AU - Nakayama, Masano
AU - Nakagawa, Atsuhiro
AU - Abe, Koyu
AU - Uchiyama, Masaru
N1 - Funding Information:
This work was supported by JSPS Grant-in-Aid for Young Scientists (A) (ID: JP24686029) and Grant-in-Aid for Scientific Research (B) (ID: JP16H04309).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBIO.2018.8665269
DO - 10.1109/ROBIO.2018.8665269
M3 - Conference contribution
AN - SCOPUS:85064136442
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 898
EP - 903
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -