Finger-attachment device for the feedback of gripping and pulling force in a manipulating system for brain tumor resection

フォーマット:

論文

責任表示:

Chinbe, Hiroyuki ; Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Miyashita, Katsuyoshi ; Nakada, Mitsutoshi

言語:

英語

出版情報:

Springer Verlag, 2018-01-01

著者名:

• Chinbe, Hiroyuki
• Yoneyama, Takeshi
• Watanabe, Tetsuyou
• Miyashita, Katsuyoshi
• Nakada, Mitsutoshi

掲載情報:

International Journal of Computer Assisted Radiology and Surgery

ISSN:

1861-6410      

巻:

13

通号:

1

開始ページ:

3

終了ページ:

12

バージョン:

author

概要:

Purpose: Development and evaluation of an effective attachment device for a bilateral brain tumor resection robotic surgery system based on the sensory performance of the human index finger in order to precisely detect gripping- and pulling-force feedback. Methods: First, a basic test was conducted to investigate the performance of the human index finger in the gripping- and pulling-force feedback system. Based on the test result, a new finger-attachment … device was designed and constructed. Then, discrimination tests were conducted to assess the pulling force and the feedback on the hardness of the gripped material. Results: The results of the basic test show the application of pulling force on the side surface of the finger has an advantage to distinguish the pulling force when the gripping force is applied on the finger-touching surface. Based on this result, a finger-attachment device that applies a gripping force on the finger surface and pulling force on the side surface of the finger was developed. By conducting a discrimination test to assess the hardness of the gripped material, an operator can distinguish whether the gripped material is harder or softer than a normal brain tissue. This will help in confirming whether the gripped material is a tumor. By conducting a discrimination test to assess the pulling force, an operator can distinguish the pulling-force resistance when attempting to pull off the soft material. Pulling-force feedback may help avoid the breaking of blood pipes when they are trapped in the gripper or attached to the gripped tissue. Conclusion: The finger-attachment device that was developed for detecting gripping- and pulling-force feedback may play an important role in the development of future neurosurgery robotic systems for precise and safe resection of brain tumors. © 2017 CARS<br />Embargo Period 12 months 続きを見る

URL:

http://hdl.handle.net/2297/48453