Design setup for haptic devices for surgery applications

Sammanfattning: In a way to help doctors and medical students train on performing difficult surgeries before entering the stressful operating room, DevinSense is developing a generic hardware platform for medical simulation. The system is used together with specific simulation software derived from real patient data and optimized towards the user specifications. The hardware platform will enable training for the operator to develop basic surgical skills effectively without the risk of losing the patients and avoiding the hospital daily contrails. The trainee on the simulator sees the scene displayed in real 3D-stereoscopic mode through a semi-transparent mirror and controls the surgery tools with a 6-DOF force feedback device. Thus, the simulated procedure becomes nearly identical to the real surgery. This project aims to develop a conceptual hardware platform for the medical simulator. The proposed solution should be height adjustable to different users. It must also include additional ergonomic functions such as mobility and suitable for use within the working environment. Accordingly, two conceptual prototypes are manufactured and evaluated. The first conceptual prototype is developed to check if the setup provides a good experience for the users, and to dimension the size of the components and to determine their location to set targets for the second prototype. The resulting product of the second prototype is one leg-lifting column with aluminum profile mounted on the top of it. The semi-transparent mirror, secondary monitor, haptic device and additional components are mounted on the setup to deliver the desired functions. The mechanical development is done using Autodesk Inventor. ANSYS is used to simulate the setups’ stresses and vibrational response to ensure that the system will perform optimally. MATLAB is used for mathematical modeling. The test results of the second prototype were promising where the height can be adjusted for users between 155 cm and 200 cm. Furthermore, the prototype provides stable and stiff design while operating on the simulator as well as transporting it.