Representation of Contact Sensation to Hard Tissue in Surgical Training Simulator Using Bone Chisel

Abstract

This study contributes to develop the control system for virtualizing contact sensation to the hard tissue in the development of a surgical training simulator with force display for oral surgeries and orthopedic surgeries using a bone chisel. In the surgical operation using the bone chisel, the impact forces are applied to the bone through the chisel by pounding with the mallet. Therefore, the force display device has to be reacted instantaneously to the impact force. In this paper, 2-DOF admittance control is applied to the axes of motion in the force display device for representing the contact sensation to the hard tissue.