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JRM Vol.34 No.6 pp. 1268-1276
doi: 10.20965/jrm.2022.p1268
(2022)

Paper:

Improvement of Haptic Interface for Teleoperation Endoscopic Surgery Simulators Using Magnetorheological Fluid Devices

Tetsumasa Takano*, Asaka Ikeda*, Isao Abe**, and Takehito Kikuchi**

*Graduate School of Engineering, Oita University
700 Dannoharu, Oita 870-1192, Japan

**Faculty of Science and Technology, Oita University
700 Dannoharu, Oita 870-1192, Japan

Received:
May 18, 2022
Accepted:
August 27, 2022
Published:
December 20, 2022
Keywords:
magnetorheological fluid, haptic device, teleoperation, endoscopic surgery
Abstract
Improvement of Haptic Interface for Teleoperation Endoscopic Surgery Simulators Using Magnetorheological Fluid Devices

Leader-follower system

A magnetorheological (MR) fluid is a composite material comprising ferromagnetic particles, medium oils, and several types of additives. We developed an MR fluid clutch for haptics (H-MRC) and installed it in a haptic interface that simulates teleoperation endoscopic surgery (ES). To enhance its operability, we redesigned the H-MRC to reduce its weight and improve its control system. We reduced the weight of the H-MRC and haptic gripper by 77.0 g and 137.0 g, respectively. To evaluate the influence of the improvement and force feedback functions on remote operation skills, we conducted pick-and-place tests with a remotely controlled system. In the tests, we subjectively evaluated the NASA-TLX and quantitatively evaluated the success rate of the task. The results of the subjective assessment showed significant reductions in mental stress during the teleoperation task. In addition, the results of the quantitative evaluation showed that the force feedback function was effective against the teleoperation skills of the operators.

Cite this article as:
T. Takano, A. Ikeda, I. Abe, and T. Kikuchi, “Improvement of Haptic Interface for Teleoperation Endoscopic Surgery Simulators Using Magnetorheological Fluid Devices,” J. Robot. Mechatron., Vol.34, No.6, pp. 1268-1276, 2022.
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