Discriminating Tissue Stiffness with a Haptic Catheter: Feeling the Inside of the Beating Heart.
Identifieur interne : 000F79 ( PubMed/Corpus ); précédent : 000F78; suivant : 000F80Discriminating Tissue Stiffness with a Haptic Catheter: Feeling the Inside of the Beating Heart.
Auteurs : Samuel B. Kesner ; Robert D. HoweSource :
- Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems : World Haptics Conference. World Haptics Conference [ ] ; 2011.
Abstract
Catheter devices allow physicians to access the inside of the human body easily and painlessly through natural orifices and vessels. Although catheters allow for the delivery of fluids and drugs, the deployment of devices, and the acquisition of the measurements, they do not allow clinicians to assess the physical properties of tissue inside the body due to the tissue motion and transmission limitations of the catheter devices, including compliance, friction, and backlash. The goal of this research is to increase the tactile information available to physicians during catheter procedures by providing haptic feedback during palpation procedures. To accomplish this goal, we have developed the first motion compensated actuated catheter system that enables haptic perception of fast moving tissue structures. The actuated catheter is instrumented with a distal tip force sensor and a force feedback interface that allows users to adjust the position of the catheter while experiencing the forces on the catheter tip. The efficacy of this device and interface is evaluated through a psychophyisical study comparing how accurately users can differentiate various materials attached to a cardiac motion simulator using the haptic device and a conventional manual catheter. The results demonstrate that haptics improves a user's ability to differentiate material properties and decreases the total number of errors by 50% over the manual catheter system.
DOI: 10.1109/WHC.2011.5945454
PubMed: 25285321
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Howe</name><affiliation><nlm:affiliation>Harvard-MIT Division of Health Sciences & Technology.</nlm:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2011">2011</date><idno type="doi">10.1109/WHC.2011.5945454</idno><idno type="RBID">pubmed:25285321</idno><idno type="pmid">25285321</idno><idno type="wicri:Area/PubMed/Corpus">000F79</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Discriminating Tissue Stiffness with a Haptic Catheter: Feeling the Inside of the Beating Heart.</title><author><name sortKey="Kesner, Samuel B" sort="Kesner, Samuel B" uniqKey="Kesner S" first="Samuel B" last="Kesner">Samuel B. Kesner</name><affiliation><nlm:affiliation>Harvard School of Engineering and Applied Sciences.</nlm:affiliation></affiliation></author><author><name sortKey="Howe, Robert D" sort="Howe, Robert D" uniqKey="Howe R" first="Robert D" last="Howe">Robert D. Howe</name><affiliation><nlm:affiliation>Harvard-MIT Division of Health Sciences & Technology.</nlm:affiliation></affiliation></author></analytic><series><title level="j">Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems : World Haptics Conference. World Haptics Conference</title><idno type="ISSN"></idno><imprint><date when="2011" type="published">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Catheter devices allow physicians to access the inside of the human body easily and painlessly through natural orifices and vessels. Although catheters allow for the delivery of fluids and drugs, the deployment of devices, and the acquisition of the measurements, they do not allow clinicians to assess the physical properties of tissue inside the body due to the tissue motion and transmission limitations of the catheter devices, including compliance, friction, and backlash. The goal of this research is to increase the tactile information available to physicians during catheter procedures by providing haptic feedback during palpation procedures. To accomplish this goal, we have developed the first motion compensated actuated catheter system that enables haptic perception of fast moving tissue structures. The actuated catheter is instrumented with a distal tip force sensor and a force feedback interface that allows users to adjust the position of the catheter while experiencing the forces on the catheter tip. The efficacy of this device and interface is evaluated through a psychophyisical study comparing how accurately users can differentiate various materials attached to a cardiac motion simulator using the haptic device and a conventional manual catheter. The results demonstrate that haptics improves a user's ability to differentiate material properties and decreases the total number of errors by 50% over the manual catheter system.</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">25285321</PMID><DateCreated><Year>2014</Year><Month>10</Month><Day>6</Day></DateCreated><DateRevised><Year>2014</Year><Month>10</Month><Day>12</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print"></ISSN><JournalIssue CitedMedium="Print"><Volume>2011</Volume><PubDate><Year>2011</Year></PubDate></JournalIssue><Title>Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems : World Haptics Conference. World Haptics Conference</Title><ISOAbbreviation>Joint Eurohaptics Conf Symp Haptic Interfaces Virtual Environ Teleoper Syst</ISOAbbreviation></Journal><ArticleTitle>Discriminating Tissue Stiffness with a Haptic Catheter: Feeling the Inside of the Beating Heart.</ArticleTitle><Pagination><MedlinePgn>13-18</MedlinePgn></Pagination><Abstract><AbstractText>Catheter devices allow physicians to access the inside of the human body easily and painlessly through natural orifices and vessels. Although catheters allow for the delivery of fluids and drugs, the deployment of devices, and the acquisition of the measurements, they do not allow clinicians to assess the physical properties of tissue inside the body due to the tissue motion and transmission limitations of the catheter devices, including compliance, friction, and backlash. The goal of this research is to increase the tactile information available to physicians during catheter procedures by providing haptic feedback during palpation procedures. To accomplish this goal, we have developed the first motion compensated actuated catheter system that enables haptic perception of fast moving tissue structures. The actuated catheter is instrumented with a distal tip force sensor and a force feedback interface that allows users to adjust the position of the catheter while experiencing the forces on the catheter tip. The efficacy of this device and interface is evaluated through a psychophyisical study comparing how accurately users can differentiate various materials attached to a cardiac motion simulator using the haptic device and a conventional manual catheter. The results demonstrate that haptics improves a user's ability to differentiate material properties and decreases the total number of errors by 50% over the manual catheter system.</AbstractText></Abstract><AuthorList><Author><LastName>Kesner</LastName><ForeName>Samuel B</ForeName><Initials>SB</Initials><AffiliationInfo><Affiliation>Harvard School of Engineering and Applied Sciences.</Affiliation></AffiliationInfo></Author><Author><LastName>Howe</LastName><ForeName>Robert D</ForeName><Initials>RD</Initials><AffiliationInfo><Affiliation>Harvard-MIT Division of Health Sciences & Technology.</Affiliation></AffiliationInfo></Author></AuthorList><Language>ENG</Language><GrantList><Grant><GrantID>R01 HL073647</GrantID><Acronym>HL</Acronym><Agency>NHLBI NIH HHS</Agency><Country>United States</Country></Grant><Grant><GrantID>R01 HL073647-10</GrantID><Acronym>HL</Acronym><Agency>NHLBI NIH HHS</Agency><Country>United States</Country></Grant></GrantList><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><MedlineTA>Joint Eurohaptics Conf Symp Haptic Interfaces Virtual Environ Teleoper Syst</MedlineTA><NlmUniqueID>101568001</NlmUniqueID></MedlineJournalInfo><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Catheter guidance</Keyword><Keyword MajorTopicYN="N">Haptics</Keyword><Keyword MajorTopicYN="N">Medical Robotics</Keyword><Keyword MajorTopicYN="N">Psychophysics</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2014</Year><Month>10</Month><Day>7</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2011</Year><Month>1</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2011</Year><Month>1</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/WHC.2011.5945454</ArticleId><ArticleId IdType="pubmed">25285321</ArticleId><ArticleId IdType="pmc">PMC4180400</ArticleId><ArticleId IdType="mid">NIHMS316069</ArticleId></ArticleIdList><pmc-dir>nihms</pmc-dir>
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