Coaxial Needle Insertion Assistant With Enhanced Force Feedback

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 import...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 2013-02, Vol.60 (2), p.379-389
Main Authors: De Lorenzo, Danilo, Koseki, Yoshihiko, De Momi, Elena, Chinzei, Kiyoyuki, Okamura, Allison M.
Format: Article
Language:English
Subjects:
Biomechanical Phenomena
Brain - physiology
Computer Simulation
Feedback
Force
Force feedback
Force sensors
haptics
Humans
Iron
Minimally Invasive Surgical Procedures - instrumentation
Minimally Invasive Surgical Procedures - methods
Models, Biological
needle insertion
Needles
Pressure
Robotics - instrumentation
Robots
Shafts
Signal Processing, Computer-Assisted
surgery
Surgery, Computer-Assisted
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Summary: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.
ISSN:0018-9294
1558-2531
DOI:10.1109/TBME.2012.2227316