Article

Coaxial Needle Insertion Assistant With Enhanced Force Feedback

IEEE transactions on bio-medical engineering (Impact Factor: 2.15). 11/2012; 60(2). DOI: 10.1109/TBME.2012.2227316
Source: PubMed

ABSTRACT Many medical procedures involving needle insertion into soft tissues, such as anaesthesia, 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.

0 Bookmarks
 · 
75 Views
  • [Show abstract] [Hide abstract]
    ABSTRACT: We validated the effectiveness of a coaxial needle insertion assistant under the condition that the needles were laterally deformed. The coaxial needle insertion assistant separates the cutting force at the needle tip from shear friction on the needle shaft, and haptically display it to a user in order to assists her/his perception during epidural puncture. An outer needle covers the side of an inner needle, preventing the shear friction from acting on the inner needle. However when the needles are laterally deformed and make contact to each other, it is concerned that the effect of the separation is degraded. In this paper, the users punctured an artificial tissue with variable insertion angles, so that the needle is intentionally laterally deformed. The overshoot and user confidence in detecting puncture was examined.
    Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 07/2013; 2013:6683-6686. DOI:10.1109/EMBC.2013.6611089
  • [Show abstract] [Hide abstract]
    ABSTRACT: This synopsis presents a selection for the IMIA (International Medical Informatics Association) Yearbook 2014 of excellent research in the broad field of Sensor, Signal, and Imaging Informatics published in the year 2013, with a focus on Big Data and Smart Health Technologies Methods: We performed a systematic initial selection and a double blind peer review process to find the best papers in this domain published in 2013, from the PubMed and Web of Science databases. A set of MeSH keywords provided by experts was used.
    Yearbook of medical informatics 01/2014; 9(1):150-3. DOI:10.15265/IY-2014-0035
  • [Show abstract] [Hide abstract]
    ABSTRACT: An implantable neural spike monitor with nonlinear amplifier was proposed for robust measurement against noise. In embedded electrophysiological signal processing systems, detection performance depends on signal to noise ratio (SNR), however, it is getting worth after implantation because of neoformation surrounding the electrodes and so on. We proposed a spike enhancer in this study. It has two remarkable function; automatic gain optimization with feedback loop and SNR improvement by nonlinear amplifier. In this report, the system performance was evaluated without feedback loop. A prototype circuit is prepared with small number of parts and tested on input-output characteristics. For the final evaluation, neural spike signal from somatosensory cortex of a rat was applied to the circuit. The test results show that system can expand SNR on neural spike signal from rat. It indicates that the spike enhancer can improve total performance of neural activity processing system.
    Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 07/2013; 2013:6687-6690. DOI:10.1109/EMBC.2013.6611090