The Haptic Scissors
The objective of the Haptic Scissors Project is to simulate the feeling of cutting tissue. This is useful for surgical simulators or the equivalent of "flight trainers" for doctors. Motors attached to the scissor handles simulate between-the-fingers forces, and translational forces.
(Left) Haptic scissors with two DOF (Right) Simulation of scissors
cutting a finite element-based tissue mesh.
We
have simulated liver,
skin, and tendon tissues, and also rendered friction between the blades
to make the haptic scissors feel as realistic as possible.
Scissors cutting simulated liver tissue.
Conference Publications:
- A. M. Okamura, R. J. Webster III, J. T. Nolan, K. W. Johnson and H. Jafry. The Haptic Scissors: Cutting in Virtual Environments. IEEE International Conference on Robotics and Automation, 828-833, 2003.