Gripping Force Feedback System for Neurosurgery
Yoshinori Fujihira, Takuya Hanyu, Yusuke Kanada,
Takeshi Yoneyama, Tetsuyou Watanabe, and Hiroyuki Kagawa
Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan
A force feedback manipulator system was developed for use in neurosurgery. The system consists of a multidegree of freedom manipulator with a forcedetecting gripper and a device capable of using force feedback to display kinesthetic sense. The structure, which consists of parallel thin plates in the gripper of the manipulator, enables the detection of a gripping force and a pulling force, which can be used to grip and pull tumors. In this paper, we describe ways of improving the structure of the force sensor. Throughbilateral control, the operation device is able to display the gripping force as its driving force, and the pulling force as the frictional force between the display device and the skin of the finger. We also conducted experiments to test the force sense display capabilities of the developed system. The results showed that the system can display a force and the difference between the softness of different objects that are gripped. The ability of the system to identify different objects is increased by magnifying the detected force using an appropriate scale.
-  A. Cuschieri, “Whither Minimal Access Surgery: Tribulations and Expectations,” The American J. of Surgery, Vol.169, pp. 9-19, 1995.
-  A. Moreno-Egea, JA. Torralba, G. Morales, T. Fernndez, P. Guzmn, G. Hita, et al., “Laparoscopic Repair of Secondary Lumbar Hernias: Open vs. Laparoscopic Surgery. A Prospective, Nonrandomized Study,” Cirugia Espanola, Vol.77, pp. 159-162, 2005.
-  HG. Stassen, J. Dankelman, KA. Grimbergen, DW. Meijer, “Man-Machine Aspects of Minimally Invasive Surgery,” Annual Reviews in Control, Vol.25, pp. 111-122, 2001.
-  CR. Wagner, N. Stylopoulos, RD. Howe, “The Role of Force Feedback in Surgery: Analysis of Blunt Dissection,” Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002. HAPTICS 2002, pp. 68-74, 2002.
-  A. Kazi, “Operator Performance in Surgical Telemanipulation,” Teleoperators and Virtual Environments, Vol.10, No.5, pp. 495-510, 2001.
-  T. Hu, G. Tholey, JP. Desai, AE. Castellanos, “Evaluation of a Laparoscopic Grasper with Force Feedback,” Surgical Endoscopy, Vol.18, pp. 863-867, 2004.
-  B. Demi, T. Ortmaier, U. Seibold, “The Touch and Feel in Minimally Invasive Surgery,” IEEE Int. Workshop on Haptic Audio Visual Environments and their Applications, pp. 33-38, 2005.
-  G. De Gersem, H. Van Brussel, F. Tendick, “Reliable and Enhanced Stiffness Perception in Soft-Tissue Telemanipulation,” The Int. J. of Robotics Research, Vol.24, pp. 805-822, 2005.
-  M. Kitagawa, D. Dokko, AM. Okamura, and DD. Yuh, “Effect of Sensory Substitution on Suture-Manipulation Forces for Robotic Surgical Systems,” J. of Thoracic and Cardiovascular Surgery, Vol.129, pp. 151-158, 2005.
-  T. Akinbiyi, AM. Okamura, DD. Yuh, “Dynamic Augmented Reality for Haptic Display in Robot Assisted Surgical Systems,” Medicine Meets Virtual Reality, pp. 567-570, 2005.
-  M. Tavakoli, A. Aziminejad, RV. Patel, and M. Moallem, “Methods and Mechanisms for Contact Feedback in a Robot-Assisted Minimally Invasive Environment,” Surgical Endoscopy, Vol.20, pp. 1570-1579, 2006.
-  T. Haidegger, L. Kovacs, G. Fordos, Z. Bnyo, and P. Kazanzides, “Future Trends in Robotic Neurosurgery,” 14th Nordic-Baltic Conf. on Biomedical Engineering and Medical Physics, Vol.20, pp. 229-233, 2008.
-  J. Fachinger, et al., “2006. Behavior of spent HTR Fuel Elements in Aquatic Phases of Repository Host Rock Formations,” Nuclear Engineering & Design, Vol.236, p. 54, 2006.
-  K. Hongo, Y. Kakizawa, J. Koyama, K. Nishizawa, F. Tajima, MG. Fujie, and S. Kobayashi, “Microscopic-manipulator system for minimally invasive neurosurgery,” Computer Assisted Radiology and Surgery, Vol.1230, pp. 275-280, 2001.
-  K. Hongo, S. Kobayashi, Y. Kakizawa, J. Koyama, T. Goto, H. Okudera, K. Kan, MG. Fujie, H. Iseki, and K. Takakura, “Neurobot: Telecontrolled micromanipulator system for minimally invasive microneurosurgery,” Neurosurgery, Vol.51, pp. 985-988, 2002.
-  K. Kan, MG. Fujie, F. Tajima, K. Nishizawa, T. Kawai, A. Shose, K. Takakura, S. Kobayashi, and T. Dohi, “Development of HUMAN system with the three micro manipulator for minimally invasive neurosurgery,” Computer Assisted Radiology and Surgery, Vol.1230, pp. 143-148, 2001.
-  A. Morita, S. Sora, M. Mitsuishi, S. Warisawa, K. Suruman, D. Asai, et al., “Microsurgical robotic system for the deep surgical field: Development of a prototype and feasibility studies in animal and cadaveric models,” J. Neurosurgery, Vol.103, pp. 320-327, 2005.
-  T. Yoneyama, T.Watanabe, H. Kagawa, J. Hamada, Y. Hayashi, and M. Nakada, “Force detecting gripper and flexible micro manipulator for neurosurgery,” 33rd Annual Int. Conf. of the IEEE EMBS, pp. 6695-6699, 2011.
-  T. Yoneyama, T.Watanabe, H. Kagawa, J. Hamada, Y. Hayashi, and M. Nakada, “Force detecting gripper and force feedback system for neurosurgery applications,” Int. J. of Computer Assisted Radiology and Surgery, Vol.7 Supplement1, p. 131, 2012.
-  Y. Yamashita, Y. Fujihira, T. Yoneyama, T. Watanabe, H. Kagawa, J. Hamada, Y. Hayashi, and M. Nakada, “Development of a Force Detecting Flexible Micomanipulator for the Resection of Brain Tumor,” Transactions of the Japanese Society for Medical and Biological Engineering, Vol.50, pp. 329-336, 2013.
-  T. Massie and K. Salisbury, “The Phantom Haptic Interface: A Device for Probing Virtual Object,” American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, Vol.55, pp. 295-299, 1994.
-  G. Soza, R. Grosso, Ch. Nimsky, P. Hastreiter, R. Fahlbusch, and G. Greiner, “Determination of the elasticity parameters of brain tissue with combined simulation and registration,” The Int. J. of Medical Robotics and Computer Assisted Surgery, Vol.1, No.3, pp. 87-95, 2005.