Quantifying force and positional frequency bands in neurosurgical tasks.
Identifieur interne : 000094 ( PubMed/Corpus ); précédent : 000093; suivant : 000095Quantifying force and positional frequency bands in neurosurgical tasks.
Auteurs : Yaser Maddahi ; Ahmad Ghasemloonia ; Kourosh Zareinia ; Nariman Sepehri ; Garnette R. SutherlandSource :
- 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><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></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2016">2016</date><idno type="RBID">pubmed:26914651</idno><idno type="pmid">26914651</idno><idno type="doi">10.1007/s11701-016-0561-4</idno><idno type="wicri:Area/PubMed/Corpus">000094</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Quantifying force and positional frequency bands in neurosurgical tasks.</title><author><name sortKey="Maddahi, Yaser" sort="Maddahi, Yaser" uniqKey="Maddahi Y" first="Yaser" last="Maddahi">Yaser Maddahi</name><affiliation><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.</nlm:affiliation></affiliation></author><author><name sortKey="Ghasemloonia, Ahmad" sort="Ghasemloonia, Ahmad" uniqKey="Ghasemloonia A" first="Ahmad" last="Ghasemloonia">Ahmad Ghasemloonia</name><affiliation><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.</nlm:affiliation></affiliation></author><author><name sortKey="Zareinia, Kourosh" sort="Zareinia, Kourosh" uniqKey="Zareinia K" first="Kourosh" last="Zareinia">Kourosh Zareinia</name><affiliation><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.</nlm:affiliation></affiliation></author><author><name sortKey="Sepehri, Nariman" sort="Sepehri, Nariman" uniqKey="Sepehri N" first="Nariman" last="Sepehri">Nariman Sepehri</name><affiliation><nlm:affiliation>Fluid Power and Telerobotics Research Laboratory, Department of Mechanical Engineering, University of Manitoba, 75A Chancellor Circle, Winnipeg, MB, R3T 5V6, Canada.</nlm:affiliation></affiliation></author><author><name sortKey="Sutherland, Garnette R" sort="Sutherland, Garnette R" uniqKey="Sutherland G" first="Garnette R" last="Sutherland">Garnette R. Sutherland</name><affiliation><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></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><pubmed><MedlineCitation Owner="NLM" Status="In-Data-Review"><PMID Version="1">26914651</PMID><DateCreated><Year>2016</Year><Month>05</Month><Day>18</Day></DateCreated><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1863-2491</ISSN><JournalIssue CitedMedium="Internet"><Volume>10</Volume><Issue>2</Issue><PubDate><Year>2016</Year><Month>Jun</Month></PubDate></JournalIssue><Title>Journal of robotic surgery</Title><ISOAbbreviation>J Robot Surg</ISOAbbreviation></Journal><ArticleTitle>Quantifying force and positional frequency bands in neurosurgical tasks.</ArticleTitle><Pagination><MedlinePgn>97-102</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1007/s11701-016-0561-4</ELocationID><Abstract><AbstractText>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.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Maddahi</LastName><ForeName>Yaser</ForeName><Initials>Y</Initials><Identifier Source="ORCID">http://orcid.org/0000-0002-5180-782X</Identifier><AffiliationInfo><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.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Ghasemloonia</LastName><ForeName>Ahmad</ForeName><Initials>A</Initials><AffiliationInfo><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.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Zareinia</LastName><ForeName>Kourosh</ForeName><Initials>K</Initials><AffiliationInfo><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.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Sepehri</LastName><ForeName>Nariman</ForeName><Initials>N</Initials><AffiliationInfo><Affiliation>Fluid Power and Telerobotics Research Laboratory, Department of Mechanical Engineering, University of Manitoba, 75A Chancellor Circle, Winnipeg, MB, R3T 5V6, Canada.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Sutherland</LastName><ForeName>Garnette R</ForeName><Initials>GR</Initials><AffiliationInfo><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.</Affiliation></AffiliationInfo></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2016</Year><Month>02</Month><Day>25</Day></ArticleDate></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>J Robot Surg</MedlineTA><NlmUniqueID>101300401</NlmUniqueID><ISSNLinking>1863-2483</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Frequency bandwidth</Keyword><Keyword MajorTopicYN="N">Haptic hand-controller</Keyword><Keyword MajorTopicYN="N">Interaction force</Keyword><Keyword MajorTopicYN="N">Neurosurgery</Keyword><Keyword MajorTopicYN="N">Spectral analysis</Keyword><Keyword MajorTopicYN="N">Workspace</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2015</Year><Month>9</Month><Day>25</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2016</Year><Month>1</Month><Day>12</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2016</Year><Month>2</Month><Day>25</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2016</Year><Month>2</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2016</Year><Month>2</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2016</Year><Month>2</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">26914651</ArticleId><ArticleId IdType="doi">10.1007/s11701-016-0561-4</ArticleId><ArticleId IdType="pii">10.1007/s11701-016-0561-4</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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