NDLI: Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback

Content Provider	IEEE Xplore Digital Library
Author	De Lorenzo, D. Koseki, Y. De Momi, E. Chinzei, K. Okamura, A.M.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, and the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA (Okamura, A.M.) \|\| Politecnico di Milano, Bioengineering Department, Neuroengineering and Medical Robotics Laboratory, Piazza Leonardo Da Vinci 32, 20133 Milano, Italy (De Lorenzo, D.) \|\| Research Institute of Human Life Technology, Advanced Industrial Science and Technology (AIST), Tsukuba, Japan (Koseki, Y.; Chinzei, K.) \|\| Istituto di Tecnologie Industriali ed Automazione, Consiglio Nazionale delle Ricerche, Milano, Italy (De Momi, E.)
Abstract	During needle insertion in soft tissue, detection of change in tissue properties is important both for diagnosis to detect pathological tissue and for prevention to avoid puncture of important structures. The presence of a membrane located deep inside the tissue results in a relatively small force variation at the needle tip that can be masked by relatively large friction force between the needle shaft and the surrounding tissue. Also, user perception of force can be limited due to the overall small force amplitude in some applications (e.g. brain surgery). A novel robotic coaxial needle insertion assistant was developed to enhance operator force perception. The coaxial needle separates the cutting force at the needle tip from shear friction on the needle shaft. The assistant is force controlled (admittance control), providing the operator with force feedback that is a scaled version of the force applied by the needle tip to the tissue. The effectiveness of the assistant in enhancing the detection of different tissue types was tested experimentally. Users were asked to blindly insert a needle into artificial tissues with membranes at various depths under two force feedback conditions: (1) shaft and tip force together, and (2) only tip force. The ratio of successful to unsuccessful membrane detection was significantly higher when only the needle tip force is displayed to the user. The system proved to be compliant with the clinical applications requirements.
Starting Page	3447
Ending Page	3450
File Size	792610
Page Count	4
File Format	PDF
ISBN	9781424441211
ISSN	1557170X
e-ISBN	9781457715891
e-ISBN	9781424441228
DOI	10.1109/IEMBS.2011.6090932
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Needles Force Friction Robots Biomembranes Force feedback Surgery
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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