Coaxial needle insertion assistant with enhanced force feedback.
Identifieur interne : 001D08 ( Main/Curation ); précédent : 001D07; suivant : 001D09Coaxial needle insertion assistant with enhanced force feedback.
Auteurs : Danilo De Lorenzo [Italie] ; Yoshihiko Koseki ; Elena De Momi ; Kiyoyuki Chinzei ; Allison M. OkamuraSource :
- IEEE transactions on bio-medical engineering [ 1558-2531 ] ; 2013.
English descriptors
- KwdEn :
- Biomechanical Phenomena, Brain (physiology), Computer Simulation, Feedback, Humans, Minimally Invasive Surgical Procedures (instrumentation), Minimally Invasive Surgical Procedures (methods), Models, Biological, Needles, Pressure, Robotics (instrumentation), Signal Processing, Computer-Assisted, Surgery, Computer-Assisted.
- MESH :
- instrumentation : Minimally Invasive Surgical Procedures, Robotics.
- methods : Minimally Invasive Surgical Procedures.
- physiology : Brain.
- Biomechanical Phenomena, Computer Simulation, Feedback, Humans, Models, Biological, Needles, Pressure, Signal Processing, Computer-Assisted, Surgery, Computer-Assisted.
Abstract
Many medical procedures involving needle insertion into soft tissues, such as anesthesia, biopsy, brachytherapy, and placement of electrodes, are performed without image guidance. In such procedures, haptic detection of changing tissue properties at different depths during needle insertion is important for needle localization and detection of subsurface structures. However, changes in tissue mechanical properties deep inside the tissue are difficult for human operators to sense, because the relatively large friction force between the needle shaft and the surrounding tissue masks the smaller tip forces. A novel robotic coaxial needle insertion assistant, which enhances operator force perception, is presented. This one-degree-of-freedom cable-driven robot provides to the operator a scaled version of the force applied by the needle tip to the tissue, using a novel design and sensors that separate the needle tip force from the shaft friction force. The ability of human operators to use the robot to detect membranes embedded in artificial soft tissue was tested under the conditions of 1) tip force and shaft force feedback, and 2) tip force only feedback. The ratio of successful to unsuccessful membrane detections was significantly higher (up to 50%) when only the needle tip force was provided to the user.
DOI: 10.1109/TBME.2012.2227316
PubMed: 23193302
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pubmed:23193302Le document en format XML
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<author><name sortKey="De Lorenzo, Danilo" sort="De Lorenzo, Danilo" uniqKey="De Lorenzo D" first="Danilo" last="De Lorenzo">Danilo De Lorenzo</name>
<affiliation wicri:level="1"><nlm:affiliation>Neuroengineering and Medical Robotics Laboratory, Department of Bioengineering, Politecnico di Milano, 20133 Milano, Italy. danilo.delorenzo@mail.polimi.it</nlm:affiliation>
<country xml:lang="fr">Italie</country>
<wicri:regionArea>Neuroengineering and Medical Robotics Laboratory, Department of Bioengineering, Politecnico di Milano, 20133 Milano</wicri:regionArea>
<wicri:noRegion>20133 Milano</wicri:noRegion>
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<author><name sortKey="Koseki, Yoshihiko" sort="Koseki, Yoshihiko" uniqKey="Koseki Y" first="Yoshihiko" last="Koseki">Yoshihiko Koseki</name>
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<author><name sortKey="De Momi, Elena" sort="De Momi, Elena" uniqKey="De Momi E" first="Elena" last="De Momi">Elena De Momi</name>
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<author><name sortKey="Chinzei, Kiyoyuki" sort="Chinzei, Kiyoyuki" uniqKey="Chinzei K" first="Kiyoyuki" last="Chinzei">Kiyoyuki Chinzei</name>
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<series><title level="j">IEEE transactions on bio-medical engineering</title>
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<term>Minimally Invasive Surgical Procedures (instrumentation)</term>
<term>Minimally Invasive Surgical Procedures (methods)</term>
<term>Models, Biological</term>
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<term>Pressure</term>
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<term>Feedback</term>
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<front><div type="abstract" xml:lang="en">Many medical procedures involving needle insertion into soft tissues, such as anesthesia, biopsy, brachytherapy, and placement of electrodes, are performed without image guidance. In such procedures, haptic detection of changing tissue properties at different depths during needle insertion is important for needle localization and detection of subsurface structures. However, changes in tissue mechanical properties deep inside the tissue are difficult for human operators to sense, because the relatively large friction force between the needle shaft and the surrounding tissue masks the smaller tip forces. A novel robotic coaxial needle insertion assistant, which enhances operator force perception, is presented. This one-degree-of-freedom cable-driven robot provides to the operator a scaled version of the force applied by the needle tip to the tissue, using a novel design and sensors that separate the needle tip force from the shaft friction force. The ability of human operators to use the robot to detect membranes embedded in artificial soft tissue was tested under the conditions of 1) tip force and shaft force feedback, and 2) tip force only feedback. The ratio of successful to unsuccessful membrane detections was significantly higher (up to 50%) when only the needle tip force was provided to the user.</div>
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