Identification method of environmental stiffness using haptic forceps for brain surgery

Mika Aoki, Tomoyuki Shimon, Takuya Matsunaga, Takahiro Mizoguchi, Shunsuke Shibao, Hikaru Sasaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In surgical field, a technique of haptic transmission solves various problems such as limitation of visual field in minimally invasive surgery (MIS), operation mistakes, and so on. Generally, haptic transmission is used in large-scale robots whose end-effector is located in the remote side from the operator. In order to naturally utilize the technique of haptic transmission, it should be implemented in the tools which are frequently used by surgeons. This paper proposes a master-slave integrated haptic forceps like a pincet. The identification method of the environmental stiffness that the developed forceps contacts is proposed in order to consider the safety of operation. Assuming neurosurgery, the experiments using imitation models of brain tissue verified that the slight difference of the stiffness between a healthy tissue and a tumor can be recognized. Experimental results showed that the proposed forceps can be operated properly and the environmental stiffness is measured accurately. It also showed that by the scaling method of the bilateral control system, the identifications of the environmental stiffness became clearer.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages207-212
Number of pages6
Volume2018-July
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 2018 Aug 30
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 2018 Jul 92018 Jul 12

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period18/7/918/7/12

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Aoki, M., Shimon, T., Matsunaga, T., Mizoguchi, T., Shibao, S., Sasaki, H., & Ohnishi, K. (2018). Identification method of environmental stiffness using haptic forceps for brain surgery. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Vol. 2018-July, pp. 207-212). [8452259] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452259