Force Display Control System using 2 DOF Admittance Control in Surgical Training Simulator with Chiseling Operation

This study contributes to developing the virtual surgical training simulator for chiseling operation. In surgical operations using the bone chisel, impact forces are applied to the bone by pounding the chisel with the mallet. To virtually represent this situation in the training simulator, the force display system with high stiffness and instant reaction to the impact force is needed. In order to realize this force display system, we constructed the force display device with the ball-screw mechanism for obtaining the high stiffness, and proposed the two degree-of-freedom (2 DOF) admittance control for reacting instantaneously in the previous study. In this study, the force display control system using 2 DOF admittance control is analyzed, and the feedforward and feedback controllers in 2 DOF admittance control are developed for improving the reaction of the force display device. The efficacy of the proposed control system is verified by creating a virtual experience to the chiseling manipulation of a hard object using the bone mallet. From the experimental results, it is confirmed that the movement, contact, chiseling and splitting sensations are displayed more accurately than the conventional approach.