Coaxial needle insertion assistant with enhanced force feedback.
Identifieur interne : 000A91 ( PubMed/Curation ); précédent : 000A90; suivant : 000A92Coaxial 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
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000A91
Links to Exploration step
pubmed:23193302Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Coaxial needle insertion assistant with enhanced force feedback.</title>
<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>
</affiliation>
</author>
<author><name sortKey="Koseki, Yoshihiko" sort="Koseki, Yoshihiko" uniqKey="Koseki Y" first="Yoshihiko" last="Koseki">Yoshihiko Koseki</name>
</author>
<author><name sortKey="De Momi, Elena" sort="De Momi, Elena" uniqKey="De Momi E" first="Elena" last="De Momi">Elena De Momi</name>
</author>
<author><name sortKey="Chinzei, Kiyoyuki" sort="Chinzei, Kiyoyuki" uniqKey="Chinzei K" first="Kiyoyuki" last="Chinzei">Kiyoyuki Chinzei</name>
</author>
<author><name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M" last="Okamura">Allison M. Okamura</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="2013">2013</date>
<idno type="doi">10.1109/TBME.2012.2227316</idno>
<idno type="RBID">pubmed:23193302</idno>
<idno type="pmid">23193302</idno>
<idno type="wicri:Area/PubMed/Corpus">000A91</idno>
<idno type="wicri:Area/PubMed/Curation">000A91</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Coaxial needle insertion assistant with enhanced force feedback.</title>
<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>
</affiliation>
</author>
<author><name sortKey="Koseki, Yoshihiko" sort="Koseki, Yoshihiko" uniqKey="Koseki Y" first="Yoshihiko" last="Koseki">Yoshihiko Koseki</name>
</author>
<author><name sortKey="De Momi, Elena" sort="De Momi, Elena" uniqKey="De Momi E" first="Elena" last="De Momi">Elena De Momi</name>
</author>
<author><name sortKey="Chinzei, Kiyoyuki" sort="Chinzei, Kiyoyuki" uniqKey="Chinzei K" first="Kiyoyuki" last="Chinzei">Kiyoyuki Chinzei</name>
</author>
<author><name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M" last="Okamura">Allison M. Okamura</name>
</author>
</analytic>
<series><title level="j">IEEE transactions on bio-medical engineering</title>
<idno type="eISSN">1558-2531</idno>
<imprint><date when="2013" type="published">2013</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biomechanical Phenomena</term>
<term>Brain (physiology)</term>
<term>Computer Simulation</term>
<term>Feedback</term>
<term>Humans</term>
<term>Minimally Invasive Surgical Procedures (instrumentation)</term>
<term>Minimally Invasive Surgical Procedures (methods)</term>
<term>Models, Biological</term>
<term>Needles</term>
<term>Pressure</term>
<term>Robotics (instrumentation)</term>
<term>Signal Processing, Computer-Assisted</term>
<term>Surgery, Computer-Assisted</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term>
<term>Robotics</term>
</keywords>
<keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Minimally Invasive Surgical Procedures</term>
</keywords>
<keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Brain</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Biomechanical Phenomena</term>
<term>Computer Simulation</term>
<term>Feedback</term>
<term>Humans</term>
<term>Models, Biological</term>
<term>Needles</term>
<term>Pressure</term>
<term>Signal Processing, Computer-Assisted</term>
<term>Surgery, Computer-Assisted</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<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>
</front>
</TEI>
<pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">23193302</PMID>
<DateCreated><Year>2013</Year>
<Month>01</Month>
<Day>21</Day>
</DateCreated>
<DateCompleted><Year>2013</Year>
<Month>11</Month>
<Day>18</Day>
</DateCompleted>
<DateRevised><Year>2014</Year>
<Month>11</Month>
<Day>20</Day>
</DateRevised>
<Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1558-2531</ISSN>
<JournalIssue CitedMedium="Internet"><Volume>60</Volume>
<Issue>2</Issue>
<PubDate><Year>2013</Year>
<Month>Feb</Month>
</PubDate>
</JournalIssue>
<Title>IEEE transactions on bio-medical engineering</Title>
<ISOAbbreviation>IEEE Trans Biomed Eng</ISOAbbreviation>
</Journal>
<ArticleTitle>Coaxial needle insertion assistant with enhanced force feedback.</ArticleTitle>
<Pagination><MedlinePgn>379-89</MedlinePgn>
</Pagination>
<ELocationID EIdType="doi" ValidYN="Y">10.1109/TBME.2012.2227316</ELocationID>
<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>
</Abstract>
<AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>De Lorenzo</LastName>
<ForeName>Danilo</ForeName>
<Initials>D</Initials>
<AffiliationInfo><Affiliation>Neuroengineering and Medical Robotics Laboratory, Department of Bioengineering, Politecnico di Milano, 20133 Milano, Italy. danilo.delorenzo@mail.polimi.it</Affiliation>
</AffiliationInfo>
</Author>
<Author ValidYN="Y"><LastName>Koseki</LastName>
<ForeName>Yoshihiko</ForeName>
<Initials>Y</Initials>
</Author>
<Author ValidYN="Y"><LastName>De Momi</LastName>
<ForeName>Elena</ForeName>
<Initials>E</Initials>
</Author>
<Author ValidYN="Y"><LastName>Chinzei</LastName>
<ForeName>Kiyoyuki</ForeName>
<Initials>K</Initials>
</Author>
<Author ValidYN="Y"><LastName>Okamura</LastName>
<ForeName>Allison M</ForeName>
<Initials>AM</Initials>
</Author>
</AuthorList>
<Language>eng</Language>
<GrantList CompleteYN="Y"><Grant><GrantID>R01 EB006435</GrantID>
<Acronym>EB</Acronym>
<Agency>NIBIB NIH HHS</Agency>
<Country>United States</Country>
</Grant>
</GrantList>
<PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType>
<PublicationType UI="D052061">Research Support, N.I.H., Extramural</PublicationType>
<PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType>
</PublicationTypeList>
<ArticleDate DateType="Electronic"><Year>2012</Year>
<Month>11</Month>
<Day>15</Day>
</ArticleDate>
</Article>
<MedlineJournalInfo><Country>United States</Country>
<MedlineTA>IEEE Trans Biomed Eng</MedlineTA>
<NlmUniqueID>0012737</NlmUniqueID>
<ISSNLinking>0018-9294</ISSNLinking>
</MedlineJournalInfo>
<CitationSubset>IM</CitationSubset>
<MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D001921">Brain</DescriptorName>
<QualifierName MajorTopicYN="N" UI="Q000502">physiology</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D003198">Computer Simulation</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D005246">Feedback</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D019060">Minimally Invasive Surgical Procedures</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName>
<QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D008954">Models, Biological</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="Y" UI="D009339">Needles</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D011312">Pressure</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName>
<QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="Y" UI="D012815">Signal Processing, Computer-Assisted</DescriptorName>
</MeshHeading>
<MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName>
</MeshHeading>
</MeshHeadingList>
</MedlineCitation>
<PubmedData><History><PubMedPubDate PubStatus="aheadofprint"><Year>2012</Year>
<Month>11</Month>
<Day>15</Day>
</PubMedPubDate>
<PubMedPubDate PubStatus="entrez"><Year>2012</Year>
<Month>11</Month>
<Day>30</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
<PubMedPubDate PubStatus="pubmed"><Year>2012</Year>
<Month>11</Month>
<Day>30</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
<PubMedPubDate PubStatus="medline"><Year>2013</Year>
<Month>11</Month>
<Day>19</Day>
<Hour>6</Hour>
<Minute>0</Minute>
</PubMedPubDate>
</History>
<PublicationStatus>ppublish</PublicationStatus>
<ArticleIdList><ArticleId IdType="doi">10.1109/TBME.2012.2227316</ArticleId>
<ArticleId IdType="pubmed">23193302</ArticleId>
</ArticleIdList>
</PubmedData>
</pubmed>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000A91 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Curation/biblio.hfd -nk 000A91 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= PubMed |étape= Curation |type= RBID |clé= pubmed:23193302 |texte= Coaxial needle insertion assistant with enhanced force feedback. }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Curation/RBID.i -Sk "pubmed:23193302" \ | HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Curation/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
This area was generated with Dilib version V0.6.23. |