Abstract
Endoscopic operation using the surgical support robot can perform minimally invasive. But operator cannot obtain information of the power, because he does not touch directly the affected parts. So we have been developing a brain tumor removal robotic manipulator including a gripping force feedback system that provides the force detected by the sensor of the tip forceps to the operator. In this report, we investigate the performance of newly developed pulling force feedback device. New device consists of two parts. The first is the device which gives friction sensation on finger. The second is the device giving a sensation by feedbacking the force at wrist position of operators. We also performed sensibility evaluation by neuro surgeons and evaluated the validity of our system.
