Force Feedback Control of an Encountered-type Haptic Interface Using MR Fluid Based on Biaxial Forces Measured by a Surgical Instrument with a Single Strain Area

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  • センサ一体型術具の2方向力計測値に基づいたMR流体を用いた遭遇型力覚提示装置の力フィードバック制御

Abstract

<p>This paper presents force feedback control of an encountered-type haptic interface using MR (Magneto-Rheological) fluid based on biaxial forces measured by a surgical instrument with a single strain area. The haptic interface is developed for a surgical simulator. Therefore, the interface is supposed to display forces pressing or cutting the biological tissues in a surgical operation. This paper focuses on retraction operation by using a suction tube that is a fundamental operation to provide a large area of visibility to the operator. The experiments show that the system can reproduce reference retraction force regardless of the attitude of the instrument. </p>

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