Abstract
We are developing the flexible micro manipulator with a haptic force feedback system for the brain surgery. This micro manipulator has 5 degrees of freedom, can approach adequately to the deeply seated brain tumor. When the operator grips a brain tumor using this manipulator, the gripping force is detected by strain gage fit on the gripper clip. In the same way, the force of pulling a tumor could be detected. Those forces are conducted to the operator by force feedback devices on the master manipulator. In this paper, we show the force feedback device and system. And, gripping soft material test showed that both gripping force and pulling force are clearly detected and the operator could feel haptic force through the feedback system.
