In surgical incision, it is known that the surgeons control surgical knives by feeling of its reaction force, therefore
it is necessary to render realistic haptic for development of the surgical incision training system. In our previous
paper, we reported that the surgical incision training system used three translational degree-of-freedom (3-DOF)
haptic rendering without consideration of rotational forces, distribution of hardness and viscosity of tissue. In
this paper, we propose 6-DOF haptic rendering model for development of incision training system with three
translational and rotational forces considered hardness and velocity. In this model, it is possible to render the
cut, friction and clamping force acting on a surgical knife and those forces can be displayed on the 6-DOF haptic
interface device in real time. It is shown the effectiveness of 6-DOF rendering model in comparison with 3-DOF
by subjective rating experiment.
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