Yasuhiro Kawaguchi, Toshiya Nakaguchi, Norimichi Tsumura, Yoichi Miyake
Graduate School of Sience and Technology,
Chiba University
1-33,Yayoi-cho, Inage, Chiba, 263-8522,
Medical Imaging Technology Vol.24 No.4, 277-284(2006).
Abstract
In a surgical incision, since surgeons control a surgical knife by feeling
the reaction force, it is important to render realistic haptic for the
simulator. Previous methods based on the three translational degree-of-freedom
(3-DOF) haptics, however didn’t consider rotational forces and distribution
of hardness and viscosity of a tissue. In this study, we have developed
the three translational and three rotational DOF (6-DOF) haptic rendering
model considering hardness and viscosity. This model renders the cut, friction,
and clamping force acting on a surgical knife. The forces are displayed
on the 6-DOF haptic interface device in real-time. The difference in the
reality between the 6-DOF and 3-DOF models was compared and evaluated subjectively
by 12 subjects (students in our laboratories). The results showed that
the proposed model is more effective than the conventional 3-DOF model.
Full paper(to appeare)
[PDF]( in Japanese )