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論文
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Chinbe, Hiroyuki ; Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Miyashita, Katsuyoshi ; Nakada, Mitsutoshi
概要:
Purpose: Development and evaluation of an effective attachment device for a bilateral brain tumor resection robotic surg
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ery 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
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論文
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Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Kagawa, Hiroyuki ; Hamada, Jun-ichiro ; Hayashi, Yutaka ; Nakada, Mitsutoshi
概要:
Purpose For the application of less invasive robotic neurosurgery to the resection of deep-seated tumors, a prototype sy
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stem of a force-detecting gripper with a flexible micromanipulator and force feedback to the operating unit will be developed. Methods Gripping force applied on the gripper is detected by strain gauges attached to the gripper clip. The signal is transmitted to the amplifier by wires running through the inner tube of the manipulator. Proportional force is applied on the finger lever of the operating unit by the surgeon using a bilateral control program. A pulling force experienced by the gripper is also detected at the gripper clip. The signal for the pulling force is transmitted in a manner identical to that mentioned previously, and the proportional torque is applied on the touching roller of the finger lever of the operating unit. The surgeon can feel the gripping force as the resistance of the operating force of the finger and can feel the pulling force as the friction at the finger surface. Results A basic operation test showed that both the gripping force and pulling force were clearly detected in the gripping of soft material and that the operator could feel the gripping force and pulling force at the finger lever of the operating unit. Conclusions A prototype of the force feedback in the microgripping manipulator system has been developed. The system will be useful for removing deep-seated brain tumors in future master-slave-type robotic neurosurgery. © 2013 CARS.
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論文
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Chinbe, Hiroyuki ; Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Nakada, Mitsutoshi
概要:
The human fingertip has very high density of the receptor to accept sense of touch stimulation. The corresponding somati
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c sensory area in a brain is very large, and considered to be a specialized part for palpation. A lot of haptic display system then have been developed with the investigation of human haptic perception. However, the researches about the human perception for pulling force at grasping, namely static frictional force are limited. This paper investigated it, aiming at a future development of pulling and grasping force feedback system for neurosurgical robotic systems. For the purpose, this paper explored the possibility of displaying pulling force to an index finger during grasping. The absolute and difference thresholds for pulling sense were the targets. The results showed that grasping disturbs the pulling sense, and the sides of index fingertip can be used to display pulling sense, relatively large force, namely scaled force feedback is required for the perception. The results provide an important insight at a hardware and controller design of force feedback systems. © 2016 IEEE.<br />42nd Conference of the Industrial Electronics Society, IECON 2016; Palazzo dei CongressiFlorence; Italy; 24 October 2016 through 27 October 2016; Category numberCFP16IEC-ART; Code 125546
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| 4.
論文 |
論文
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Chinbe, Hiroyuki ; Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Nakada, Mitsutoshi
概要:
The human fingertip has very high density of the receptor to accept sense of touch stimulation. The corresponding somati
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c sensory area in a brain is very large, and considered to be a specialized part for palpation. A lot of haptic display system then have been developed with the investigation of human haptic perception. However, the researches about the human perception for pulling force at grasping, namely static frictional force are limited. This paper investigated it, aiming at a future development of pulling and grasping force feedback system for neurosurgical robotic systems. For the purpose, this paper explored the possibility of displaying pulling force to an index finger during grasping. The absolute and difference thresholds for pulling sense were the targets. The results showed that grasping disturbs the pulling sense, and the sides of index fingertip can be used to display pulling sense, relatively large force, namely scaled force feedback is required for the perception. The results provide an important insight at a hardware and controller design of force feedback systems. © 2016 IEEE.<br />42nd Conference of the Industrial Electronics Society, IECON 2016; Palazzo dei CongressiFlorence; Italy; 24 October 2016 through 27 October 2016; Category numberCFP16IEC-ART; Code 125546
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