2A2-R07 Development of haptic device for brain tumor surgery assisted manipulators(Surgical Robotics and Mechatronics (1))

Abstract

We developed Master-Slave manipulators for a brain tumor surgery, whose tip part is manipulator with multiple degrees of freedom and has force sensors. This paper mainly focuses on operation device (master part), and describe its mechanism and haptic display system for feedbacking the force sensations. We regarded bending, gripping and translational motions as important functions for operation, and then developed haptic display system to feedback bending and gripping and translational forces to operators. At the forceps part, we also have force sensor for pulling. We also developed the haptic system for the pulling force such that the pulling force can be feedbacked as a friction force. We experimentally evaluated the performance of the developed system, and showed the validity of our system.