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

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

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.

Methods

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.

Results

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.

Conclusion

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.

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Authors and Affiliations

  1. School of Mechanical Engineering, Kanazawa University, Kakuma-machi, Kanazawa, 920-1192, Japan

    Hiroyuki Chinbe, Takeshi Yoneyama & Tetsuyou Watanabe

  2. Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, Takara-machi, Kanazawa, 920-8641, Japan

    Katsuyoshi Miyashita & Mitsutoshi Nakada

Authors
  1. Hiroyuki Chinbe
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  2. Takeshi Yoneyama
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  3. Tetsuyou Watanabe
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  4. Katsuyoshi Miyashita
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  5. Mitsutoshi Nakada
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Corresponding author

Correspondence to Takeshi Yoneyama.

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There is no conflict of interest in this study.

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Chinbe, H., Yoneyama, T., Watanabe, T. et al. Finger-attachment device for the feedback of gripping and pulling force in a manipulating system for brain tumor resection. Int J CARS 13, 3–12 (2018). https://doi.org/10.1007/s11548-017-1640-3

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  • DOI: https://doi.org/10.1007/s11548-017-1640-3

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