Development of measurement system of chiseling motion using sensor fusion technology

This paper contributes to enhance realistic sensation of a surgical training simulator using virtual reality technologies. The surgical training simulator for operating hard tissues such as bones and teeth has been developed in recent years. For enhancing the realistic sensation of the simulator, it is required to measure and model the surgical manipulation. In this study, we propose the measurement system of the chiseling operation to the hard tissue. In the proposed approach, the posture and acceleration of the chisel are measured by an Inertia Measurement Unit (IMU) sensor and the displacement is measured by a Light Detection and Ranging (LiDAR) camera. The operating force to the chisel can be detected by the force sensor installed into the chisel. The chiseling motion can be estimated precisely by the sensor fusion technology in which the sensor data is integrated. The efficacy of the proposed measurement system is verified by the experiments.