Haptic Interaction pp 231-235

Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 277) | Cite as

Development of the Haptic Device for a Hepatectomy Simulator

  • Yu-uki Enzaki
  • Hiroaki Yano
  • Yukio Oshiro
  • Jaejeong Kim
  • Sangtae Kim
  • Hiroo Iwata
  • Nobuhiro Ohkohchi
Chapter

Abstract

In this study, a system for a hepatectomy simulator was developed. The system consists of 2 haptic devices, a visual display, a depth sensor, and a control PC. One of the haptic devices is used for left hand. A silicon rubber mock-up of the lobe of a liver is attached to the end effector of the haptic device. Another haptic device is provided for right hand, which is a mock-up of an ultrasonic aspirator. Then, the user can incises a virtual liver with it, and the mock-up is vibrated similar to a real ultrasonic aspirator. By using the depth sensor, the position of the haptic device is measured and transmitted to the PC. In the PC, simulation software, named Liversim, calculates the interference between the tip of the interface and the virtual liver. The virtual liver can be deformed, translated, or incised by the user. Image of the virtual liver is presented to the user. And the user can feel the reaction force like a real surgery through the haptic interfaces.

Keywords

Haptic Hepatectomy Surgery Simulation Training 

References

  1. 1.
    Surgicalscience LapSim. http://www.surgical-science.com/
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    Suzuki, N., Hattori, A., Suzuki, S., Baur, M.P., Hirner, A., Kobayashi, S., Yamazaki, Y., Adachi, Y.: Real-time surgical simulation with haptic sensation as collaborated works between Japan and Germany. In: Medical Image Computing and Computer-Assisted Intervention—MICCAI 2001. Lecture Notes in Computer Science, Vol. 2208, pp. 1015–1021 (2001)Google Scholar
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    Yao, H.-Y., Hayward, V.: Design and analysis of a recoil-type vibrotactile transducer. J. Acoust. Soc. Am. 128(2), 619–627 (2010)CrossRefGoogle Scholar
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    Oshiro, Y., Fukunaga, K., Mitani, J., Liversim, O.N.: A novel preoperative liver simulation system combined with real-time deformation of the liver. In: 23rd World Congress of the International Association of Surgeons, Gastroenterologists and Oncologists (IASGO), Bucarest, Sep 2013Google Scholar

Copyright information

© Springer Japan 2015

Authors and Affiliations

  • Yu-uki Enzaki
    • 1
  • Hiroaki Yano
    • 1
  • Yukio Oshiro
    • 2
  • Jaejeong Kim
    • 3
  • Sangtae Kim
    • 3
  • Hiroo Iwata
    • 1
  • Nobuhiro Ohkohchi
    • 2
  1. 1.Faculty of Engineering, Information and SystemsUniversity of TsukubaTsukubaJapan
  2. 2.Faculty of MedicineUniversity of TsukubaTsukubaJapan
  3. 3.Faculty of Library, Information and Media ScienceUniversity of TsukubaTsukubaJapan

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