Force-detecting gripper and force feedback system for neurosurgery applications

Area of Science:

• Robotics in Medicine
• Neurosurgery
• Surgical Instrumentation

Background:

• Deep-seated brain tumors present significant challenges for surgical resection.
• Minimally invasive techniques are crucial for reducing patient trauma and improving outcomes.
• Robotic systems offer enhanced dexterity and precision in complex surgical procedures.

Purpose of the Study:

• To develop a prototype force-detecting gripper with a flexible micromanipulator for robotic neurosurgery.
• To integrate force feedback capabilities into the operating unit for enhanced surgeon control.
• To enable less invasive resection of deep-seated tumors.

Main Methods:

• Strain gauges attached to the gripper clip detect applied gripping and pulling forces.
• Signals are transmitted via wires through the manipulator to an amplifier.
• A bilateral control program provides proportional force and torque feedback to the surgeon's operating unit.

Main Results:

• The prototype system successfully detected both gripping and pulling forces during soft material manipulation.
• Surgeons could perceive the gripping and pulling forces through tactile feedback at the operating unit's finger lever.
• The system demonstrated clear force detection and feedback capabilities.

Conclusions:

• A prototype micro-gripping manipulator system with force feedback has been successfully developed.
• This technology holds significant potential for improving deep-seated brain tumor removal in master-slave robotic neurosurgery.
• Enhanced tactile feedback is crucial for precise and safe robotic surgical interventions.