Six degree-of-freedom haptic rendering for the surgical incision training

Yasuhiro Kawaguchi; Toshiya Nakaguchi; Norimichi Tsumura; Yoichi Miyake

doi:10.1117/12.709324

3 April 2007 Six degree-of-freedom haptic rendering for the surgical incision training

Yasuhiro Kawaguchi, Toshiya Nakaguchi, Norimichi Tsumura, Yoichi Miyake

Proceedings Volume 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures; 65092R (2007) https://doi.org/10.1117/12.709324
Event: Medical Imaging, 2007, San Diego, CA, United States

Abstract

In surgical incision, it is known that the surgeons control surgical knives by feeling of its reaction force, therefore it is necessary to render realistic haptic for development of the surgical incision training system. In our previous paper, we reported that the surgical incision training system used three translational degree-of-freedom (3-DOF) haptic rendering without consideration of rotational forces, distribution of hardness and viscosity of tissue. In this paper, we propose 6-DOF haptic rendering model for development of incision training system with three translational and rotational forces considered hardness and velocity. In this model, it is possible to render the cut, friction and clamping force acting on a surgical knife and those forces can be displayed on the 6-DOF haptic interface device in real time. It is shown the effectiveness of 6-DOF rendering model in comparison with 3-DOF by subjective rating experiment.

Citation Download Citation

Yasuhiro Kawaguchi, Toshiya Nakaguchi, Norimichi Tsumura, and Yoichi Miyake "Six degree-of-freedom haptic rendering for the surgical incision training", Proc. SPIE 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures, 65092R (3 April 2007); https://doi.org/10.1117/12.709324

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available