Hands-Free Kinetic System for Medical Simulation (KineSys MedSim)

In recent years, many human-computer interaction and virtual environment systems have incorporated haptic devices. However, the range of environment properties and types of interactions enabled by existing haptic interfaces are very limited. Haptic feedback is typically restricted to that provided by artificial materials (e.g., mannequins) or resolved forces (e.g., use of PHANTOM-type force feedback haptic interfaces in virtual reality simulators). The user normally grasps a stylus or places a fingertip in a thimble, which is represented as a tool in the virtual environment. There is a need for medical simulators that integrate the cutaneous sensations of direct interaction with typical kinesthetic feedback in order to provide a complete haptic experience. To address this need, Intelligent Automation, Inc. (IAI), in collaboration with Dr. Allison Okamura at Stanford University, Tangible Haptics, and Dr. Carla Pugh (Northwestern University), proposes to extend our Phase I successes developing a hands-free kinetic system for medical simulation, KineSys MedSim, that accurately simulates kinesthetic and cutaneous properties (e.g. stiffness, friction, texture, temperature, etc.) of skin, bone, muscle, and internal organs (which may have hard inclusions such as tumors). The proposed innovation in this SBIR effort will provide a solution for next-generation surgical simulators.