HapticV1, PubMed, Corpus, bibRecord, 000A91

Coaxial needle insertion assistant with enhanced force feedback.

Identifieur interne : 000A91 ( PubMed/Corpus ); précédent : 000A90; suivant : 000A92

Coaxial needle insertion assistant with enhanced force feedback.

Auteurs : Danilo De Lorenzo ; Yoshihiko Koseki ; Elena De Momi ; Kiyoyuki Chinzei ; Allison M. Okamura

Source :

IEEE transactions on bio-medical engineering [ 1558-2531 ] ; 2013.

RBID : pubmed:23193302

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

Links to Exploration step

pubmed:23193302

Le 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><nlm:affiliation>Neuroengineering and Medical Robotics Laboratory, Department of Bioengineering, Politecnico di Milano, 20133 Milano, Italy. danilo.delorenzo@mail.polimi.it</nlm:affiliation>
</affiliation>
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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>Humans</term>
<term>Minimally Invasive Surgical Procedures (instrumentation)</term>
<term>Minimally Invasive Surgical Procedures (methods)</term>
<term>Models, Biological</term>
<term>Needles</term>
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<term>Robotics (instrumentation)</term>
<term>Signal Processing, Computer-Assisted</term>
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<term>Computer Simulation</term>
<term>Feedback</term>
<term>Humans</term>
<term>Models, Biological</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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<Title>IEEE transactions on bio-medical engineering</Title>
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<ArticleTitle>Coaxial needle insertion assistant with enhanced force feedback.</ArticleTitle>
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<Abstract><AbstractText>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.</AbstractText>
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Coaxial needle insertion assistant with enhanced force feedback.

Coaxial needle insertion assistant with enhanced force feedback.

Source :

English descriptors

Abstract

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki