title: Quantifying force and positional frequency bands in neurosurgical tasks.
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.
authors.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.
authors.forename: Yaser
authors.identifier: http://orcid.org/0000-0002-5180-782X
authors.initials: Y
authors.lastname: Maddahi
authors.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.
authors.forename: Ahmad
authors.initials: A
authors.lastname: Ghasemloonia
authors.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.
authors.forename: Kourosh
authors.initials: K
authors.lastname: Zareinia
authors.affiliation: Fluid Power and Telerobotics Research Laboratory, Department of Mechanical Engineering, University of Manitoba, 75A Chancellor Circle, Winnipeg, MB, R3T 5V6, Canada.
authors.forename: Nariman
authors.initials: N
authors.lastname: Sepehri
authors.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.
authors.forename: Garnette R
authors.initials: GR
authors.lastname: Sutherland
mesh_terms: D001696:Biomechanical Phenomena; D002102:Cadaver; D004867:Equipment Design; D006225:Hand; D006801:Humans; D008279:Magnetic Resonance Imaging; D009068:Movement; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D013525:Surgical Instruments; D017132:Workplace
keywords: Frequency bandwidth; Haptic hand-controller; Interaction force; Neurosurgery; Spectral analysis; Workspace