| Budget Amount *help |
¥17,160,000 (Direct Cost: ¥13,200,000、Indirect Cost: ¥3,960,000)
Fiscal Year 2015: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2014: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2013: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Fiscal Year 2012: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Outline of Final Research Achievements |
During surgery, a surgeon uses a variety of surgical instruments. Therefore, a haptic interface for surgical training should be able to display reaction force through various surgical instruments. Based on this concept, a novel encountered-type haptic interface using MR (Magneto-Rheological) fluid for neurosurgery simulators have been developed. In this research, force feedback controller for 2 DOF force display is proposed and an 8 DOF haptic interface which can display independent reaction force on each hand is developed. The proposed force feedback controller can imitate cutting force of a swine liver using MR fluid and 2 DOD motion table driven by servo motors. The newly developed 8DOF haptic interface has two display parts which consists of MR fluid, a container of the fluid, a force sensor, an electromagnet coil and a yoke. The display part is miniaturized based on magnetic field analysis and moved by a 4 DOF motion table for the application of neurosurgery training.
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