Quantifying force and positional frequency bands in neurosurgical tasks.
Identifieur interne : 004006 ( Ncbi/Curation ); précédent : 004005; suivant : 004007Quantifying force and positional frequency bands in neurosurgical tasks.
Auteurs : Yaser Maddahi [Canada] ; Ahmad Ghasemloonia [Canada] ; Kourosh Zareinia [Canada] ; Nariman Sepehri [Canada] ; Garnette R. Sutherland [Canada]Source :
- Journal of robotic surgery [ 1863-2491 ] ; 2016.
Abstract
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.
DOI: 10.1007/s11701-016-0561-4
PubMed: 26914651
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Sutherland</name><affiliation wicri:level="4"><nlm:affiliation>Project neuroArm, Department of Clinical Neuroscience and the Hotchkiss Brain Institute, University of Calgary, 1C58-HRIC, 3280 Hospital Dr NW, Calgary, AB, T2N 4Z6, Canada. garnette@ucalgary.ca.</nlm:affiliation><country xml:lang="fr">Canada</country><wicri:regionArea>Project neuroArm, Department of Clinical Neuroscience and the Hotchkiss Brain Institute, University of Calgary, 1C58-HRIC, 3280 Hospital Dr NW, Calgary, AB, T2N 4Z6</wicri:regionArea><orgName type="university">Université de Calgary</orgName><placeName><settlement type="city">Calgary</settlement><region type="state">Alberta</region></placeName></affiliation></author></analytic><series><title level="j">Journal of robotic surgery</title><idno type="eISSN">1863-2491</idno><imprint><date when="2016" type="published">2016</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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