School of Mechanical Engineering, Kanazawa University, Kakuma-machi, Kanazawa, 920-1192, Japan.
Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, Takara-machi, Kanazawa, 920-8641, Japan.
Int J Comput Assist Radiol Surg. 2018 Jan;13(1):3-12. doi: 10.1007/s11548-017-1640-3. Epub 2017 Jul 10.
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.
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.
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.
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.
为了精确检测抓握力和拉力反馈，开发并评估一种基于人类食指感知性能的双侧脑肿瘤切除机器人手术系统的有效附件装置。
首先，进行了一项基本测试，以研究人类食指在抓握力和拉力反馈系统中的性能。根据测试结果，设计并构建了一种新型的手指附件装置。然后，进行了辨别测试，以评估拉力和被夹持材料硬度的反馈。
基础测试的结果表明，在手指触摸面上施加夹持力的同时，在手指侧面施加拉力有助于区分拉力。基于这个结果，开发了一种手指附件装置，它在手指表面施加夹持力，在手指侧面施加拉力。通过进行辨别测试来评估被夹持材料的硬度，操作员可以区分被夹持材料是比正常脑组织更硬还是更软。这有助于确认被夹持材料是否为肿瘤。通过进行拉力辨别测试，操作员可以区分试图拉开软材料时的拉力阻力。拉力反馈可以帮助避免在夹持器中夹到或附着在被夹持组织上的血管破裂。
为检测抓握力和拉力反馈而开发的手指附件装置可能在未来神经外科机器人系统的开发中发挥重要作用，有助于实现脑肿瘤的精确和安全切除。
