遭遇型力覚提示装置を用いた手術シミュレータのためのMR流体の粒子と分散媒の検討

抄録

This paper presents an examination of particles and dispersion vehicle of MR fluid for a surgical simulator using an encountered-type haptic device. We have developed an encountered-type haptic device using MR fluid for surgical simulator. Cutting biological tissue by operational instruments is demonstrated by cutting the MR fluid whose magnitude of yield stress is controlled by changing magnitude of magnetic field. Up to now, we are using commercially available MR fluid for the haptic device. However, it does not optimal for the surgical simulator by the reasons of magnitude of resistance force produced by the MR fluid with respect to the magnitude of input current and safety. In this paper, we examine the performance of three types of MR fluid by observing the magnitude of the cutting force depending on the input current and insertion depth.