TY - GEN
T1 - Sensory Evaluation of Cutting Force for Encountered-type Haptic Display Using MR Fluid
AU - Ohnari, Hiroki
AU - Abiko, Satoko
AU - Tsujita, Teppei
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by JSPS Grant-in-Aid for Scientific Research (B), (JP16H04309).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - This paper addresses sensory evaluation of cutting force for an encountered-type haptic interface using MR fluid. The encountered-type of haptic interface using MR fluid can display arbitrary force by controlling the magnitude of yield stress of MR fluid and an operator can feel resistance force by cutting the MR fluid directly with surgical instrument. In the previous studies, we tried to reproduce cutting force of authentic biological tissue, swine liver, by this haptic interface. However, we discovered that an operator did not feel same cutting force as in cutting the real swine liver even though the haptic interface reproduced the cutting force of real swine liver. Therefore, this paper carries out sensory evaluation of cutting force to clarify dominant factors of the cutting sensation and discusses how different between the real swine liver cutting and reproduced cutting force by the haptic interface. Then, we discuss possible improvement of the system for precisely reproducing the cutting sensation.
AB - This paper addresses sensory evaluation of cutting force for an encountered-type haptic interface using MR fluid. The encountered-type of haptic interface using MR fluid can display arbitrary force by controlling the magnitude of yield stress of MR fluid and an operator can feel resistance force by cutting the MR fluid directly with surgical instrument. In the previous studies, we tried to reproduce cutting force of authentic biological tissue, swine liver, by this haptic interface. However, we discovered that an operator did not feel same cutting force as in cutting the real swine liver even though the haptic interface reproduced the cutting force of real swine liver. Therefore, this paper carries out sensory evaluation of cutting force to clarify dominant factors of the cutting sensation and discusses how different between the real swine liver cutting and reproduced cutting force by the haptic interface. Then, we discuss possible improvement of the system for precisely reproducing the cutting sensation.
KW - Haptic interface
KW - MR fluid
KW - Sensory evaluation
KW - Surgery simulator
UR - http://www.scopus.com/inward/record.url?scp=85064107635&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2018.8664847
DO - 10.1109/ROBIO.2018.8664847
M3 - Conference contribution
AN - SCOPUS:85064107635
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 2399
EP - 2404
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -