School of Mechanical Engineering, Kanazawa University, Kakuma-machi, Kanazawa, 920-1192, Japan,
Int J Comput Assist Radiol Surg. 2013 Sep;8(5):819-29. doi: 10.1007/s11548-012-0807-1. Epub 2013 Jan 13.
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.
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.
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.
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.
为了将微创机器人神经外科应用于深部肿瘤的切除，我们将开发一种带有柔性操作器和力反馈的测力夹爪原型系统，应用于操作单元。
通过附在夹爪上的应变计来检测夹爪上的夹持力。该信号通过操纵器内管中的电线传输到放大器。外科医生使用双边控制程序，通过手指杆施加与夹持力成比例的力。在夹爪上还检测到夹持器所经受的拉力。拉力信号的传输方式与前面提到的相同，并且在操作单元的手指杆的接触滚轮上施加比例扭矩。外科医生可以感觉到夹持力，就像感觉到手指操作力的阻力一样，并且可以感觉到夹持器表面的摩擦力。
基本操作测试表明，在夹持柔软材料时，夹持力和拉力都能被清晰地检测到，并且操作者可以在操作单元的手指杆上感觉到夹持力和拉力。
已经开发出一种用于微夹持操作器系统的力反馈原型系统。该系统将在未来的主从式机器人神经外科手术中用于切除深部脑肿瘤。
