Force modeling for incision surgery into tissue with haptic application

Pyunghwa Kim; Soomin Kim; Seung-Hyun Choi; Jong-Seok Oh; Seung-Bok Choi

doi:10.1117/12.2083756

2 April 2015 Force modeling for incision surgery into tissue with haptic application

Pyunghwa Kim, Soomin Kim, Seung-Hyun Choi, Jong-Seok Oh, Seung-Bok Choi

Proceedings Volume 9431, Active and Passive Smart Structures and Integrated Systems 2015; 94311N (2015) https://doi.org/10.1117/12.2083756
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2015, San Diego, California, United States

Abstract

This paper presents a novel force modeling for an incision surgery into tissue and its haptic application for a surgeon. During the robot-assisted incision surgery, it is highly urgent to develop the haptic system for realizing sense of touch in the surgical area because surgeons cannot sense sensations. To achieve this goal, the force modeling related to reaction force of biological tissue is proposed in the perspective on energy. The force model describes reaction force focused on the elastic feature of tissue during the incision surgery. Furthermore, the force is realized using calculated information from the model by haptic device using magnetorheological fluid (MRF). The performance of realized force that is controlled by PID controller with open loop control is evaluated.

Citation Download Citation

Pyunghwa Kim, Soomin Kim, Seung-Hyun Choi, Jong-Seok Oh, and Seung-Bok Choi "Force modeling for incision surgery into tissue with haptic application", Proc. SPIE 9431, Active and Passive Smart Structures and Integrated Systems 2015, 94311N (2 April 2015); https://doi.org/10.1117/12.2083756

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