naa a22 4500 510808069 CHVBK 20180411083427.0 cr unu---uuuuu 180411e20130901xx s 000 0 eng 10.1007/s11548-012-0807-1 doi (NATIONALLICENCE)springer-10.1007/s11548-012-0807-1 Force-detecting gripper and force feedback system for neurosurgery applications [Elektronische Daten] [Takeshi Yoneyama, Tetsuyou Watanabe, Hiroyuki Kagawa, Junichiro Hamada, Yutaka Hayashi, Mitsutoshi Nakada] Purpose For the application of less invasive robotic neurosurgery to the resection of deep-seated tumors, a prototype system of a force-detecting gripper with a flexible micromanipulator and force feedback to the operating unit will be developed. Methods Gripping force applied on the gripper is detected by strain gauges attached to the gripper clip. The signal is transmitted to the amplifier by wires running through the inner tube of the manipulator. Proportional force is applied on the finger lever of the operating unit by the surgeon using a bilateral control program. A pulling force experienced by the gripper is also detected at the gripper clip. The signal for the pulling force is transmitted in a manner identical to that mentioned previously, and the proportional torque is applied on the touching roller of the finger lever of the operating unit. The surgeon can feel the gripping force as the resistance of the operating force of the finger and can feel the pulling force as the friction at the finger surface. Results A basic operation test showed that both the gripping force and pulling force were clearly detected in the gripping of soft material and that the operator could feel the gripping force and pulling force at the finger lever of the operating unit. Conclusions A prototype of the force feedback in the microgripping manipulator system has been developed. The system will be useful for removing deep-seated brain tumors in future master-slave-type robotic neurosurgery. CARS, 2013 Neurosurgery nationallicence Robotic surgery nationallicence Brain tumor nationallicence Manipulator nationallicence Force feedback nationallicence Yoneyama Takeshi School of Mechanical Engineering, Kanazawa University, 920-1192, Kakuma-machi, Kanazawa, Japan aut Watanabe Tetsuyou School of Mechanical Engineering, Kanazawa University, 920-1192, Kakuma-machi, Kanazawa, Japan aut Kagawa Hiroyuki School of Mechanical Engineering, Kanazawa University, 920-1192, Kakuma-machi, Kanazawa, Japan aut Hamada Junichiro Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, 920-8641, Takara-machi, Kanazawa, Japan aut Hayashi Yutaka Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, 920-8641, Takara-machi, Kanazawa, Japan aut Nakada Mitsutoshi Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, 920-8641, Takara-machi, Kanazawa, Japan aut International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/5(2013-09-01), 819-829 1861-6410 8:5<819 2013 8 11548 https://doi.org/10.1007/s11548-012-0807-1 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-012-0807-1 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Yoneyama Takeshi School of Mechanical Engineering, Kanazawa University, 920-1192, Kakuma-machi, Kanazawa, Japan aut NATIONALLICENCE 700 1- Watanabe Tetsuyou School of Mechanical Engineering, Kanazawa University, 920-1192, Kakuma-machi, Kanazawa, Japan aut NATIONALLICENCE 700 1- Kagawa Hiroyuki School of Mechanical Engineering, Kanazawa University, 920-1192, Kakuma-machi, Kanazawa, Japan aut NATIONALLICENCE 700 1- Hamada Junichiro Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, 920-8641, Takara-machi, Kanazawa, Japan aut NATIONALLICENCE 700 1- Hayashi Yutaka Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, 920-8641, Takara-machi, Kanazawa, Japan aut NATIONALLICENCE 700 1- Nakada Mitsutoshi Department of Neurosurgery Graduate School of Medical Science, Kanazawa University, 920-8641, Takara-machi, Kanazawa, Japan aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/5(2013-09-01), 819-829 1861-6410 8:5<819 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer