Design and evaluation of an encountered-type haptic interface using MR fluid for surgical simulators

A novel encountered-type haptic interface for surgical simulators is proposed. This interface has a container of MR (Magneto–Rheological) fluid, and an operator puts a surgical instrument into the fluid and can feel resistance force. The advantage of this interface is that an operator can move an instrument freely when it does not contact with MR fluid and change instruments easily. If an instrument is mounted mechanically on a haptic interface driven by servomotors, it is difficult to change surgical tools. On the other hand, the developed device does not require a procedure for changing tools and can increase a sense of reality. However, MR fluid cannot display large deformation of a tissue since its elastic region is small. Therefore, a container of the fluid is moved by servomotors. In this paper, concept and design of the interface and performance evaluations are described. In order to specify required display force, cutting force of a liver is analysed, and the maximum force is about 1.6 [N]. The device is designed based on this required force. Relationship between coil current and display force is measured, and the interface can exert 2.7 [N] when the current is 1 [A]. In addition, the validness of the proposed scheme using servomotors is evaluated.

[1]  Atsushi Konno,et al.  Development of a haptic interface using MR fluid for displaying cutting forces of soft tissues , 2012, 2012 IEEE International Conference on Robotics and Automation.

[2]  Matthias Harders,et al.  Rendering Virtual Tumors in Real Tissue Mock-Ups Using Haptic Augmented Reality , 2012, IEEE Transactions on Haptics.

[3]  Bin Liu,et al.  A 2-DOF MR actuator joystick for virtual reality applications , 2007 .

[4]  P. Stergiopoulos,et al.  A framework for the haptic rendering of the human hand , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[5]  Takeo Kanade,et al.  What you can see is what you can feel-development of a visual/haptic interface to virtual environment , 1996, Proceedings of the IEEE 1996 Virtual Reality Annual International Symposium.

[6]  A.C.W. Lau,et al.  Determining Fracture Characteristics in Scalpel Cutting of Soft Tissue , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[7]  John Kenneth Salisbury,et al.  Haptic Rendering: Introductory Concepts , 2004, IEEE Computer Graphics and Applications.

[8]  E. Chen,et al.  Force feedback for surgical simulation , 1998, Proc. IEEE.

[9]  Ulrich Hilleringmann,et al.  Electro-thermo-mechanical analytical modeling of multilayer cantilever microactuator , 2007 .

[10]  William A. McNeely,et al.  Robotic graphics: a new approach to force feedback for virtual reality , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[11]  Jaydev P. Desai,et al.  Modeling Soft-Tissue Deformation Prior to Cutting for Surgical Simulation: Finite Element Analysis and Study of Cutting Parameters , 2007, IEEE Transactions on Biomedical Engineering.

[12]  J. Carlson,et al.  MR fluid, foam and elastomer devices , 2000 .

[13]  Clément Gosselin,et al.  Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations , 2004 .

[14]  Atsushi Konno,et al.  Linear elastic fracture model for brain surgery simulation , 2011, 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[15]  Toshikazu Kawasaki,et al.  Design of prototype humanoid robotics platform for HRP , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Tsukasa Ogasawara,et al.  Haptic augmented reality interface using the real force response of an object , 2009, VRST '09.

[17]  Atsushi Konno,et al.  Design and Development of a High Speed Binocular Camera Head , 2007 .

[18]  Antonio Bicchi,et al.  Free Hand Haptic Interfaces Based on Magnetorheological Fluids , 2006, 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[19]  Tatsuo Arai,et al.  Encountered-type Visual Haptic Display Using Flexible Sheet , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[20]  Theodoros N. Arvanitis,et al.  The Role of Haptic Feedback in the Training and Assessment of Surgeons using a Virtual Environment , 2003 .

[21]  Masaru Uchiyama.  Structures and characteristics of parallel manipulators , 1993, Adv. Robotics.

[22]  J. Blake,et al.  Haptic Glove With MR Brakes for Virtual Reality , 2009, IEEE/ASME Transactions on Mechatronics.

[23]  R. Satava.  Virtual reality surgical simulator , 1993, Surgical Endoscopy.

[24]  Mark R. Cutkosky,et al.  Contact Location Display for Haptic Perception of Curvature and Object Motion , 2005, Int. J. Robotics Res..

[25]  Nigel W. John,et al.  The Role of Haptics in Medical Training Simulators: A Survey of the State of the Art , 2011, IEEE Transactions on Haptics.

[26]  Makoto Hashizume,et al.  Remote-controlled laparoscope manipulator system, NaviotTM, for endoscopic surgery , 2003, CARS.

[27]  Junji Furusho,et al.  High-performance 2-D force display system using MR actuators , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[28]  Masaru Uchiyama,et al.  Soft Tissue Pushing Operation Using a Haptic Interface for Simulation of Brain Tumor Resection , 2006, J. Robotics Mechatronics.

[29]  聡子 安孫子,et al.  1A1-C09 脳外科手術シミュレータ用ハプティックインタフェースの開発 , 2010 .