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

为了精确诊断和切除脑肿瘤，通过共聚焦显微镜和细钳系统检测夹持力来诊断脑肿瘤。通过比较观察监视器上的像素亮度分布，可以对肿瘤和正常细胞进行诊断。研制了精密机械手的主从式操作系统。在机械手的顶部可以进行旋转和翻转。在夹持器处检测夹持力和摩擦力。在操作试验中，检测了在软材料上夹持和取出目标时的夹持力。

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.