Experimental test of MR fluid based tactile device for minimally invasive surgery

Jong-Seok Oh; Jin-Kyu Kim; Seung-Bok Choi

doi:10.1117/12.2009089

10 April 2013 Experimental test of MR fluid based tactile device for minimally invasive surgery

Jong-Seok Oh, Jin-Kyu Kim, Seung-Bok Choi

Proceedings Volume 8688, Active and Passive Smart Structures and Integrated Systems 2013; 86882C (2013) https://doi.org/10.1117/12.2009089
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2013, San Diego, California, United States

Abstract

Recently, it is very popular in modern medical industry to adopt robotic technology such as robotic minimally invasive surgery (RMIS). Compared with open surgery, the RMIS needs the robot to perform surgery through the usage of long surgical instruments that are inserted through incision points. This causes the surgeon not to feel viscosity and stiffness of the tissue or organ. So, for the tactile recognition of human organ in RMIS, this work proposes a novel tactile device that incorporates with magnetorheological (MR) fluid. The MR fluid is fully contained by diaphragm and several pins. By applying different magnetic field, the operator can feel different force from the proposed tactile device. In order to generate required force from the device, the repulsive force of human body is firstly measured as reference data and an appropriate size of tactile device is designed. Pins attached with the diaphragm are controlled by shape-memory-alloy (SMA). Thus, the proposed tactile device can realize repulsive force and shape of organ. It has been demonstrated via experiment whether the measured force can be achieved by applying proper control input current. In addition, psychophysical experiments are conducted to evaluate performance on the tactile rendering of the proposed tactile device. From these results, the practical feasibility of the tactile device is verified.

Citation Download Citation

Jong-Seok Oh, Jin-Kyu Kim, and Seung-Bok Choi "Experimental test of MR fluid based tactile device for minimally invasive surgery", Proc. SPIE 8688, Active and Passive Smart Structures and Integrated Systems 2013, 86882C (10 April 2013); https://doi.org/10.1117/12.2009089

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available