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A hand‐held device with 3‐DOF haptic feedback mechanism for microsurgery
Author(s) -
Wang Zhen,
Wang Shuxin,
Zuo Siyang
Publication year - 2019
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2025
Subject(s) - haptic technology , mechanism (biology) , computer science , microsurgery , simulation , physics , surgery , medicine , quantum mechanics
Background The hand‐held devices have the advantages of being compact and easily integrated into surgical workflow especially for microsurgery. However, one of the technical challenges of hand‐held device in microsurgery is the lack of force sensing and feedback. Methods This paper presents a hand‐held haptic device that converts imperceptible forces into human‐perceptible tactile signals. It combines a force sensing tip based on fiber Bragg grating (FBG) sensors that can detect three‐degrees‐of‐freedom (3‐DOF) forces, and a haptic feedback mechanism to indicate the magnitude and direction of the forces. Results Experimental results demonstrate the ability to measure transverse force at the level of millinewton. User trials have been performed to validate the performance of the haptic feedback. During the phantom experiment, the transverse force was reduced with the feedback mechanism. Conclusions The proposed device provides important insights into the design of hand‐held device incorporating real‐time force sensing and haptic feedback for microsurgery.