Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.
Identifieur interne : 000212 ( PubMed/Corpus ); précédent : 000211; suivant : 000213Detection 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).
DOI: 10.1109/IROS.2014.6943121
PubMed: 26509101
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Daniel</name><affiliation><nlm:affiliation>Department of Radiology, Stanford University, Stanford, CA 94305.</nlm:affiliation></affiliation></author><author><name sortKey="Cutkosky, Mark R" sort="Cutkosky, Mark R" uniqKey="Cutkosky M" first="Mark R" last="Cutkosky">Mark R. Cutkosky</name><affiliation><nlm:affiliation>Department of Mechanical Engineering, Stanford University, Stanford, CA 94305.</nlm:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2014">2014</date><idno type="doi">10.1109/IROS.2014.6943121</idno><idno type="RBID">pubmed:26509101</idno><idno type="pmid">26509101</idno><idno type="wicri:Area/PubMed/Corpus">000212</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.</title><author><name sortKey="Elayaperumal, Santhi" sort="Elayaperumal, Santhi" uniqKey="Elayaperumal S" first="Santhi" last="Elayaperumal">Santhi Elayaperumal</name><affiliation><nlm:affiliation>Department of Mechanical Engineering, Stanford University, Stanford, CA 94305.</nlm:affiliation></affiliation></author><author><name sortKey="Bae, Jung Hwa" sort="Bae, Jung Hwa" uniqKey="Bae J" first="Jung Hwa" last="Bae">Jung Hwa Bae</name><affiliation><nlm:affiliation>Department of Mechanical Engineering, Stanford University, Stanford, CA 94305.</nlm:affiliation></affiliation></author><author><name sortKey="Daniel, Bruce L" sort="Daniel, Bruce L" uniqKey="Daniel B" first="Bruce L" last="Daniel">Bruce L. Daniel</name><affiliation><nlm:affiliation>Department of Radiology, Stanford University, Stanford, CA 94305.</nlm:affiliation></affiliation></author><author><name sortKey="Cutkosky, Mark R" sort="Cutkosky, Mark R" uniqKey="Cutkosky M" first="Mark R" last="Cutkosky">Mark R. Cutkosky</name><affiliation><nlm:affiliation>Department of Mechanical Engineering, Stanford University, Stanford, CA 94305.</nlm:affiliation></affiliation></author></analytic><series><title level="j">Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</title><idno type="ISSN">2153-0858</idno><imprint><date when="2014" type="published">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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).</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">26509101</PMID><DateCreated><Year>2015</Year><Month>10</Month><Day>28</Day></DateCreated><DateRevised><Year>2015</Year><Month>10</Month><Day>30</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print">2153-0858</ISSN><JournalIssue CitedMedium="Print"><Volume>2014</Volume><PubDate><Year>2014</Year><Month>Sep</Month></PubDate></JournalIssue><Title>Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</Title><ISOAbbreviation>Rep U S</ISOAbbreviation></Journal><ArticleTitle>Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.</ArticleTitle><Pagination><MedlinePgn>3975-3981</MedlinePgn></Pagination><Abstract><AbstractText NlmCategory="UNASSIGNED">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).</AbstractText></Abstract><AuthorList><Author><LastName>Elayaperumal</LastName><ForeName>Santhi</ForeName><Initials>S</Initials><AffiliationInfo><Affiliation>Department of Mechanical Engineering, Stanford University, Stanford, CA 94305.</Affiliation></AffiliationInfo></Author><Author><LastName>Bae</LastName><ForeName>Jung Hwa</ForeName><Initials>JH</Initials><AffiliationInfo><Affiliation>Department of Mechanical Engineering, Stanford University, Stanford, CA 94305.</Affiliation></AffiliationInfo></Author><Author><LastName>Daniel</LastName><ForeName>Bruce L</ForeName><Initials>BL</Initials><AffiliationInfo><Affiliation>Department of Radiology, Stanford University, Stanford, CA 94305.</Affiliation></AffiliationInfo></Author><Author><LastName>Cutkosky</LastName><ForeName>Mark R</ForeName><Initials>MR</Initials><AffiliationInfo><Affiliation>Department of Mechanical Engineering, Stanford University, Stanford, CA 94305.</Affiliation></AffiliationInfo></Author></AuthorList><Language>ENG</Language><GrantList><Grant><GrantID>P01 CA159992</GrantID><Acronym>CA</Acronym><Agency>NCI NIH HHS</Agency><Country>United States</Country></Grant></GrantList><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><MedlineTA>Rep U S</MedlineTA><NlmUniqueID>101532742</NlmUniqueID><ISSNLinking>2153-0858</ISSNLinking></MedlineJournalInfo></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2015</Year><Month>10</Month><Day>29</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2015</Year><Month>10</Month><Day>29</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>10</Month><Day>29</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/IROS.2014.6943121</ArticleId><ArticleId IdType="pubmed">26509101</ArticleId><ArticleId IdType="pmc">PMC4620049</ArticleId><ArticleId IdType="mid">NIHMS724965</ArticleId></ArticleIdList><pmc-dir>nihms</pmc-dir>
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