手術シミュレータ用力覚提示装置開発のためのMR流体切断流れモードの顕微鏡観察

抄録

Encountered-type haptic interfaces using MR fluid have been developed for surgical simulators. This haptic interface can display high-frequency force and can be used with various surgical tools. In order to develop this haptic interface, the relationship between display force and magnetic flux density is required in the design process. However, it has not been studied. For understanding the relationship, MR fluid simulator has been developed. To evaluate this simulator, the flow was observed by a microscope when the fluid was cut by a plate. When the plate cut the chain clusters of ferromagnetic particles of MR fluid, the shape of the clusters was arch at the cutting edge of the plate. It was found that the higher the concentration of the fluid, the stronger the arch. It was also found that when the blade was removed after cutting, space remained in the cluster.