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Visuohaptic bone saw simulator: combining vibrotactile and kinesthetic feedback

Published: 02 November 2015 Publication History

Abstract

The combination of stereo visualization and haptics provides a natural interface for surgical training simulators, an application which is inherently both highly visual and highly tactile. However, most off-the-shelf kinesthetic haptic devices, such as the popular Phantom devices, are not well-suited to display high-fidelity vibrotactile feedback for the high frequency force components in surgical tools such as a reciprocating bone saw. In these haptic devices, forces are mediated from the actuators to the user through a mechanical linkage, in which inertia, friction, and backlash may distort the feedback. In addition, sustained display of vibrations may cause undue wear of the device.
We propose a hybrid solution combining kinesthetic feedback from an off-the-shelf haptic device with high-fidelity vibration feedback from a vibrotactile actuator, and show that the hybrid is able to reproduce vibrations of an actual surgical reciprocating saw within the full perceptible frequency range.

References

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Cited By

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  • (2022) Instantaneous Reaction and Vibration Suppression Using Two-Degree-of-Freedom Admittance Control with H ∞ Feedback Controller in Surgical Training Simulator with Chiseling Operation Journal of Robotics and Mechatronics10.20965/jrm.2022.p084434:4(844-856)Online publication date: 20-Aug-2022
  • (2022)VIREO: Web-based Graphical Authoring of Vibrotactile Feedback for Interactions with Mobile and Wearable DevicesInternational Journal of Human–Computer Interaction10.1080/10447318.2022.210958439:20(4162-4180)Online publication date: 18-Aug-2022
  • (2016)Improved Control Methods for Vibrotactile RenderingProceedings, Part I, of the 10th International Conference on Haptics: Perception, Devices, Control, and Applications - Volume 977410.1007/978-3-319-42321-0_20(217-228)Online publication date: 4-Jul-2016

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cover image ACM Other conferences
SA '15: SIGGRAPH Asia 2015 Technical Briefs
November 2015
81 pages
ISBN:9781450339308
DOI:10.1145/2820903
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

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Publication History

Published: 02 November 2015

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Author Tags

  1. 3D stereo
  2. haptics
  3. surgical saw
  4. tool simulation
  5. vibrotactile feedback

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  • Research-article

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SA'15
SA'15: SIGGRAPH Asia 2015
November 2 - 6, 2015
Kobe, Japan

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Overall Acceptance Rate 178 of 869 submissions, 20%

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Cited By

View all
  • (2022) Instantaneous Reaction and Vibration Suppression Using Two-Degree-of-Freedom Admittance Control with H ∞ Feedback Controller in Surgical Training Simulator with Chiseling Operation Journal of Robotics and Mechatronics10.20965/jrm.2022.p084434:4(844-856)Online publication date: 20-Aug-2022
  • (2022)VIREO: Web-based Graphical Authoring of Vibrotactile Feedback for Interactions with Mobile and Wearable DevicesInternational Journal of Human–Computer Interaction10.1080/10447318.2022.210958439:20(4162-4180)Online publication date: 18-Aug-2022
  • (2016)Improved Control Methods for Vibrotactile RenderingProceedings, Part I, of the 10th International Conference on Haptics: Perception, Devices, Control, and Applications - Volume 977410.1007/978-3-319-42321-0_20(217-228)Online publication date: 4-Jul-2016

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