Positional and Force Characteristics of neuroArm Robotic Manipulators: A Pilot Study
نویسندگان
چکیده
A prerequisite for the successful design of the hand-controller, an important element of a telesurgical robotic system, remains i) the knowledge of the forces exerted by the surgical tool, and ii) the workspace required to maneuver the tool during surgical procedures. In this study, we used an image-guided neurosurgical telerobotic system called neuroArm, to quantify both the forces of tool tissue interaction and the workspace of the surgical tool attached at the two end-effectors. neuroArm includes two manipulators to which different surgical tools can be attached; in this particular study a bipolar forceps on the right and a suction tool on the left. The position, orientation, and force exerted by each tool were measured during the removal of a brain tumour, a grade III oligoastrocytoma. It was shown that the force applied by the bipolar forceps was more than that by the suction. Furthermore, the position, orientation and force of the forceps (with higher SEM) were more oscillatory than that of the suction tool (with less SEM). Results, obtained in this pilot study, can be further strengthened by the inclusion of multiple surgical procedures. This will provide a better understanding of the tool-tissue interaction in robot-assisted microsurgical systems.
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