Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force

Teppei Tsujita, Yuto Inoue, Yutaka Takagi, Atsushi Konno, Satoko Abiko, Xin Jiang, Atsuhiro Nakagawa, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review


Introduction of surgical simulators, which enable re-peated learning of new surgical techniques, is advanc-ing and they are desired in the field of neurosurgeryThis study aims to make a two-fold contribution. First is the development of a haptic interface, which can be used while changing the operative tools necessary for training the cerebral fissure opening technique while using both the hands. Second is to develop a module for the haptic interface, which can display the cutting force when using micro scissors. To realize the operation with both the hands, the haptic interfaces for the right and left hands are designed so that they do not interfere. In addition, surgical tools, such as retrac-tors, micro dissectors, and micro scissors, can be ex-changed. In the cutting experiment carried out prior to the development of the haptic interface, it was clar-ified that the force when the dura mater was cut using micro scissors was 0.5 N. For comparison, the cutting forces required to cut two and three sheets of paper were measured to be 0.4 N and 0.6 N, respectivelyThe developed micro scissors module was designed using one motor and planetary gear mechanism. The gear mechanism is designed such that the right and left handles rotate in reverse directions around the ro-tation axis of the micro scissors using only one motor. This mechanism enables the micro scissors to cut the virtual tissues in the middle of the blade. The developed module could display a force of 0.4 N.

Original languageEnglish
Pages (from-to)1284-1296
Number of pages13
JournalJournal of Robotics and Mechatronics
Issue number6
Publication statusPublished - 2022 Dec


  • cutting force display
  • haptic interfaces
  • neu-rosurgical simulators

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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