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Quantifying force and positional frequency bands in neurosurgical tasks

To establish the design requirements for an MR-compatible haptic hand-controller, this paper measures magnitudes and frequency bands of three mechanical motion and interaction components during the performance of neurosurgical tasks on a cadaveric brain. The hand-controller would allow the performan...

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Bibliographic Details
Published in:Journal of robotic surgery 2016-06, Vol.10 (2), p.97-102
Main Authors: Maddahi, Yaser, Ghasemloonia, Ahmad, Zareinia, Kourosh, Sepehri, Nariman, Sutherland, Garnette R.
Format: Article
Language:English
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Summary:To establish the design requirements for an MR-compatible haptic hand-controller, this paper measures magnitudes and frequency bands of three mechanical motion and interaction components during the performance of neurosurgical tasks on a cadaveric brain. The hand-controller would allow the performance of virtual neurosurgical tasks within the bore of a high field magnet during image acquisition, i.e., functional MRI. The components are the position and the orientation of a surgical tool, and the force interaction between the tool and the brain tissue. A bipolar forceps was retrofitted with a tracking system and a set of force sensing components to measure displacements and forces, respectively. Results showed working positional, rotational, and force frequency bands of 3, 3 and 5 Hz, respectively. Peak forces of 1.4, 2.9 and 3.0 N were measured in the Cartesian coordinate system. A workspace of 50.1 × 39.8 × 58.2 mm 3 and orientation ranges of 40.4°, 60.1° and 63.1° for azimuth, elevation, and roll angles were observed. The results contribute in providing information specific to neurosurgery that can be used to effectively design a compact and customized haptic hand-controller reflecting characteristics of neurosurgical tasks.
ISSN:1863-2483
1863-2491
DOI:10.1007/s11701-016-0561-4