4 degree-of-freedom haptic device for surgical simulation

Mortimer, M, Horan, B and Stojcevski, A 2014, '4 degree-of-freedom haptic device for surgical simulation', in Kiguchi, Kazuo; Hata, Yutaka (ed.) Proceedings of the 2014 World Automation Congress (WAC 2014) 14th International Symposium on Robotics and Applications (ISORA2014); Session : ISORA MP-3; Session title : Medical and Human Assist Robotics, Waikoloa, Hawaii, United States, 3-7 August 2014, pp. 735-740.


Document type: Conference Paper
Collection: Conference Papers

Title 4 degree-of-freedom haptic device for surgical simulation
Author(s) Mortimer, M
Horan, B
Stojcevski, A
Year 2014
Conference name WAC 2014: Emerging Technologies for a New Paradigm in System of Systems Engineering
Conference location Waikoloa, Hawaii, United States
Conference dates 3-7 August 2014
Proceedings title Proceedings of the 2014 World Automation Congress (WAC 2014) 14th International Symposium on Robotics and Applications (ISORA2014); Session : ISORA MP-3; Session title : Medical and Human Assist Robotics
Editor(s) Kiguchi, Kazuo; Hata, Yutaka
Publisher IEEE
Place of publication United States
Start page 735
End page 740
Total pages 6
Abstract Haptic interaction is a growing area of research and enables users to interact with virtual objects using their haptic sensory modality. Haptically enabled surgical simulation can allow users to be trained with realistic haptic feedback. Commercial-Off-The-Shelf (COTS) haptic devices typically provide either 3 or 6-Degrees of Freedom (DOF). While low-cost 3-DOF COTS haptic devices do exist, in many surgical simulation scenarios haptic feedback in more than 3-DOF is required. This work presents a low-cost attachment for retrofitting a 4th DOF to the affordable 3-DOF Phantom Omni haptic device. The attachment allows the provision of torque feedback around the stylus' longitudinal axis lending itself to applications where 3-DOF Cartesian forces and 1-DOF torque feedback are required, such as surgical screw insertion. In order to integrate the 4th DOF attachment, the kinematics of the resulting device are considered, and the Jacobian determined. The workspace of the Phantom Omni is also considered as well as the effect of stylus orientation on the ability to display torque. Finally the generation of forces and torques for simulating pedicle screw insertion as required in scoliosis surgery is discussed.
Subjects Control Systems, Robotics and Automation
Keyword(s) 4-DOF Device
Haptic DOF
Phantom Omni
Surgery Simulation
DOI - identifier 10.1109/WAC.2014.6936126
Copyright notice © 2014 TSI Press
ISBN 9781479972555
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