Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle
Identifieur interne : 001853 ( Pmc/Corpus ); précédent : 001852; suivant : 001854Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle
Auteurs : Santhi Elayaperumal ; Jung Hwa Bae ; Bruce L. Daniel ; Mark R. CutkoskySource :
- Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems [ 2153-0858 ] ; 2014.
Abstract
This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).
Url:
DOI: 10.1109/IROS.2014.6943121
PubMed: 26509101
PubMed Central: 4620049
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