Development of the Haptic Device for a Hepatectomy Simulator

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


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.


Haptic Hepatectomy Surgery Simulation Training 


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Copyright information

© Springer Japan 2015

Authors and Affiliations

  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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