Force display control system for simultaneous 3-axis translational motion in surgical training simulator for chiseling operation

Abstract The present study proposes an advanced force display control system for a surgical training simulator with virtual reality. In oral and orthopedic surgeries, surgeon uses chisel mallet chiseling cutting hard tissue. To enable the representation of sensation operation in simulator, device has been constructed ball-screw mechanism to obtain high stiffness. addition, two-degrees-of-freedom (2DOF) admittance used react instantaneously impactive caused by pounding mallet. was realized single axis previous studies. current study, we propose design procedure 2DOF approach three-dimensional space. Furthermore, method PD controller imperfect derivative using frequency characteristics system. efficacy proposed is verified through experience from manipulating developed study.