Finger-attachment device for the feedback of gripping and pulling force in a manipulating system for brain tumor resection

  • Hiroyuki Chinbe
  • Takeshi YoneyamaEmail author
  • Tetsuyou Watanabe
  • Katsuyoshi Miyashita
  • Mitsutoshi Nakada
Original Article



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.


Neurosurgery Robotic surgery Brain tumor Manipulator Force feedback 


Compliance with ethical standards

Conflict of interest

There is no conflict of interest in this study.


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Copyright information

© CARS 2017

Authors and Affiliations

  1. 1.School of Mechanical EngineeringKanazawa UniversityKanazawaJapan
  2. 2.Department of Neurosurgery Graduate School of Medical ScienceKanazawa UniversityKanazawaJapan

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