抄録
In this paper, the development of a haptic interface for a brain surgery simulator and a brain surgery simulator using the interface is presented. The haptic interface is composed of two 6-DOF haptic devices which consists of a surgical instruments attaching/detaching mechanism, a force-torque sensor, a 3-DOF rotation mechanism and a modified delta mechanism. The haptic interface enables to simulate medical operations with both hands at the area near the tip of two surgical instruments. In order to evaluate the performance of the interface, experiments are carried out. In the experiments the haptic interface was controlled to move translationaly. The result clarify the issues involved in the design of the interface.
