Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force
Teppei Tsujita*1, Yuto Inoue*2, Yutaka Takagi*3, Atsushi Konno*4, Satoko Abiko*5, Xin Jiang*6, Atsuhiro Nakagawa*7, and Masaru Uchiyama*8
*1Department of Mechanical Engineering, National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan
*2Mitsubishi Electric Engineering Co., Ltd.
1 Hishimachi, Inazawa, Aichi 492-8161, Japan
*3Kajima Co., Ltd.
19-1 Tobitakyu 2-chome, Chofu, Tokyo 182-0036, Japan
*4Graduate School of Information Science and Technology, Hokkaido University
Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan
*5Department of Electrical Engineering, Shibaura Institute of Technology
3-7-5 Toyosu, Koto-ku, Tokyo 108-8548, Japan
*6School of Mechanical Engineering and Automation, Harbin Institute of Technology
HIT Campus of University Town of Shenzhen, Shenzhen 518055, China
*7Department of Neurosurgery, Graduate School of Medicine, Tohoku University
1-1 Seiryo-machi, Aoba-ku, Sendai, Miyagi 980-8574, Japan
2-1-1 Katahira, Aoba-ku, Sendai, Miyagi 980-8577, Japan
Introduction of surgical simulators, which enable repeated learning of new surgical techniques, is advancing and they are desired in the field of neurosurgery. This 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 retractors, micro dissectors, and micro scissors, can be exchanged. In the cutting experiment carried out prior to the development of the haptic interface, it was clarified 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, respectively. The 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 rotation 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.
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