This paper describes development of a micro-scissors type haptic device with operational feeling of cutting soft tissue. Micro-scissors are a type of surgical instrument, which is frequently used in brain surgery under a microscope. The goal of this research is to realize a brain surgery simulator with a micro-scissors type haptic device. In order to feed back small and accurate force with high response, two DC motors are used as actuators, and two crank-lever mechanisms are applied as decelerators to reduce backlash and slipping, and H-slit force sensors with high strain sensitivity are implemented. In an experiment for performance evaluation of the device, the device is controlled to present computed force through sensor feedback, using the sensor compensation based on calibration, which is unique to the micro-scissors type haptic device with a blade spring. Results of the evaluation experiment are presented to prove that the device is able to convey the feel of cutting.
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