Finger-attachment device for the feedback of gripping and pulling force in a manipulating system for brain tumor resection
Finger-attachment device for the feedback of gripping and pulling force in a manipulating system for brain tumor resection
复制标题
用于脑肿瘤切除操纵系统中握持力和拉力反馈的手指附着装置
DOI：
10.1007/s11548-017-1640-3
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发表时间：
2017
影响因子：
3
通讯作者：
Nakada Mitsutoshi
中科院分区：
文献类型：
--
作者：
Chinbe Hiroyuki;Yoneyama Takeshi;Watanabe Tetsuyou;Miyashita Katsuyoshi;Nakada Mitsutoshi
目的研制和评价一种基于食指感觉功能的双侧脑肿瘤切除机器人手术系统的有效附着装置，以准确检测握力和拉力反馈。方法首先，对人食指在握力和拉力反馈系统中的性能进行基本测试。根据测试结果，设计并制作了一种新型手指附着装置。结果基础测试结果表明，手指侧面施加拉力对手指触摸面的拉力具有明显的区分优势。基于这一结果，研制了一种在手指表面施加夹持力，在手指侧面施加拉力的手指附着装置。通过进行辨别测试来评估被抓住的材料的硬度，操作员可以区分被抓住的材料比正常脑组织更硬还是更软。这将有助于确认被抓住的物质是否是肿瘤。通过进行识别测试来评估拉力，操作员可以在试图拉出软材料时识别拉力阻力。拉力反馈可能有助于避免被夹在夹持器中或附着在被夹持组织上的血管断裂。结论研制的用于检测握力和拉力反馈的手指附着器可能在未来神经外科机器人系统的开发中发挥重要作用，以实现精确、安全的脑肿瘤切除。
PurposeDevelopment 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.MethodsFirst, 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.ResultsThe 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.ConclusionThe 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.