Browsing by Author "Zareinia, Kourosh"

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    Evaluation Metrics for Haptic Hand Controllers used in Robotic Neurosurgery Considering User Preference
    (2018-01-24) Ng, Canaan; Sun, Qiao; Zareinia, Kourosh; Enns, Van; Ghasemloonia, Ahmad; Radmanesh, Ahmad
    In robot assisted surgery, haptic hand controllers are used as an interface between the human oper- ator and a robot manipulator operating on the patient. A well designed haptic hand controller gives users the confidence by allowing the operator to maneuver with ease. There is a desire to translate qualitative preferences to quantifiable design considerations for a hand controller. A teleoperated task related to neurosurgery with three groups of participants and four 6 DOF commercial hand controllers was conducted. Quantitative performance metrics in terms of user effort, motion smoothness, and workspace was evaluated along with qualitative data from questionnaire response. Results provided insights for future designs. A new method for controlling actuation and feedback for bipolar forceps was prototyped and showed improved perception of stiffness and confidence in a user based psychometric experiment. This showed the feasibility and benefits of having the actual tool as part of the hand controller.
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    Treatment of Glioma Using neuroArm Surgical System
    (2016-05-24) Maddahi, Yaser; Zareinia, Kourosh; Gan, Liu Shi; Sutherland, Christina; Lama, Sanju; Sutherland, Garnette R.
    The use of robotic technology in the surgical treatment of brain tumour promises increased precision and accuracy in the performance of surgery. Robotic manipulators may allow superior access to narrow surgical corridors compared to freehand or conventional neurosurgery. This paper reports values and ranges of tool-tissue interaction forces during the performance of glioma surgery using an MR compatible, image-guided neurosurgical robot called neuroArm. The system, capable of microsurgery and stereotaxy, was used in the surgical resection of glioma in seven cases. neuroArm is equipped with force sensors at the end-effector allowing quantification of tool-tissue interaction forces and transmits force of dissection to the surgeon sited at a remote workstation that includes a haptic interface. Interaction forces between the tool tips and the brain tissue were measured for each procedure, and the peak forces were quantified. Results showed maximum and minimum peak force values of 2.89 N (anaplastic astrocytoma, WHO grade III) and 0.50 N (anaplastic oligodendroglioma, WHO grade III), respectively, with the mean of peak forces varying from case to case, depending on type of the glioma. Mean values of the peak forces varied in range of 1.27 N (anaplastic astrocytoma, WHO grade III) to 1.89 N (glioblastoma with oligodendroglial component, WHO grade IV). In some cases, ANOVA test failed to reject the null hypothesis of equality in means of the peak forces measured. However, we could not find a relationship between forces exerted to the pathological tissue and its size, type, or location.