Intraoperative diagnose and remove system for brain tumors using confocal microscopy probe and friction detecting forceps

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For the purpose of the precise diagnose and remove of the brain tumors, diagnose of brain tumors by confocal microscopy and fine forceps system with the detection of gripping force. By comparing the pixel brightness distributions on the observing monitor, diagnose between tumor and normal cells can be made. Master-slave operating system for fine manipulator has been developed. Flexion and rotating are possible at the top of the manipulator. Gripping force and friction force are detected at the gripper. In the operating examination, gripping force has been detected during the gripping and taking out the target on the soft material.