Force-detecting gripper and force feedback system for neurosurgery applications

Abstract

CARS 2012Abstract Purpose For the application of less invasive robotic neurosurgery to the resection of deep-seated tumors, a prototype system 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.

Incompressible liquid based force sensible silicone retractor attachable to surgical suction instruments

“…A detailed analysis can be obtained from several review papers [5]- [11]. The commonly used force sensing systems are based on strain gauges [12]- [14]. Further, tactile/force sensing systems based on magnet and magnetic sensors were developed [15], [16].…”

Haptic threshold for pulling force feedback on surgeon's fingertip in medical robotic systems

“…See [15] for the detail of the controller. [15][16][17][18] III. INVESTIGATION OF ABSOLUTE THRESHOLD OF PULLING FORCE DURING GRASPING First, absolute threshold of pulling force was assessed when pulling and grasping force are applied simultaneously.…”

“…Many researchers then have developed haptic and force feedback systems for medical robots [4][5][6][7][8][9][10][11][12][13][14]. Our group also developed haptic or force feedback systems [15][16][17][18] for an endoscopic neurosurgery. In the fields of endoscopic neurosurgery, the manipulator with forceps has to go through narrow routes and to work at small and narrow surgical fields.…”

Three-axis force visualizing system for fiberscopes utilizing highly elastic fabric

“…For example, in examinations of tumors in the pituitary gland, the typical magnitude of force is around 0.1 [N] [15][16][17]. A resolution close to 0.01 [N] is then required [15][16][17]. To detect these small magnitudes at high resolution, highly elastic panty stocking fabric is used in the study.…”

“…In general, this issue is considered the disadvantage of sensors utilizing force visualization, as noted in previous studies [6], [14]. In contrast, a robotic system with a force sensor and feedback systems for neurosurgery was developed in [15]- [17]. However, because the force sensing system was based on a strain gauge, the aforementioned issues of sterilization and MRI compatibility were not resolved.…”