Surgical scissors extension adds the 7th axis of force feedback to the Freedom 6S

Area of Science:

• Surgical Simulation
• Virtual Reality
• Robotics

Background:

• Virtual reality (VR) surgical simulators aim for seamless real-world to virtual-world transitions.
• Current simulators often lack realistic tool interaction, typically using only pen-like instruments.
• Simulating diverse surgical tools is crucial for effective VR training.

Purpose of the Study:

• To integrate haptically enabled scissors into a 6-DOF haptic device for VR surgical simulation.
• To enhance the realism of surgical tool manipulation in virtual environments.
• To enable surgeons to experience tactile feedback during simulated procedures.

Main Methods:

• Developed haptic scissors with a maximum torque of 460 mN.m.
• Integrated the scissors onto the Freedom 6S 6-DOF haptic device.
• Designed for low inertia and low back-drive friction, with a balanced configuration.
• Enabled quick tool interchangeability between 6-DOF and 7-DOF configurations.

Main Results:

• The haptic scissors provide realistic pinching feedback with controlled torque.
• The balanced design minimizes perceived weight, mimicking actual surgical scissors.
• The system allows for rapid switching between different tool configurations.
• The device successfully simulates the feel of using scissors in VR.

Conclusions:

• Haptically enabled scissors significantly improve the realism of VR surgical simulators.
• This technology offers a more immersive and effective training tool for surgeons.
• The developed system advances the capabilities of haptic devices in surgical simulation.