Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L.; Cutkosky, Mark R.

doi:10.1109/iros.2014.6943121

Cited by 33 publications

(20 citation statements)

References 28 publications

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“…In addition to measuring chordae tendineae forces, the versatility of FBGs could easily allow for measurements of more complex structures within the heart and body. Novel applications using FBGs include providing haptic feedback of needles, catheters, and robotic arms allowing for enhanced surgical manipulation as well as for diagnostics in the case of force-sensing needles for tumor biopsy [36][37][38]. We are currently experimenting with force and shape-sensing annuloplasty rings using multicore and bundled fibers oriented at 120 deg angles.…”

Section: Discussionmentioning

confidence: 99%

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Paulsen

Bae

Imbrie-Moore

et al. 2019

Journal of Biomechanical Engineering

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Few technologies exist that can provide quantitative data on forces within the mitral valve apparatus. Marker-based strain measurements can be performed, but chordal geometry and restricted optical access are limitations. Foil-based strain sensors have been described and work well, but the sensor footprint limits the number of chordae that can be measured. We instead utilized fiber Bragg grating (FBG) sensors—optical strain gauges made of 125 μm diameter silica fibers—to overcome some limitations of previous methods of measuring chordae tendineae forces. Using FBG sensors, we created a force-sensing neochord (FSN) that mimics the natural shape and movement of native chordae. FBG sensors reflect a specific wavelength of light depending on the spatial period of gratings. When force is applied, the gratings move relative to one another, shifting the wavelength of reflected light. This shift is directly proportional to force applied. The FBG sensors were housed in a protective sheath fashioned from a 0.025 in. flat coil, and attached to the chordae using polytetrafluoroethylene suture. The function of the force-sensing neochordae was validated in a three-dimensional (3D)-printed left heart simulator, which demonstrated that FBG sensors provide highly sensitive force measurements of mitral valve chordae at a temporal resolution of 1000 Hz. As ventricular pressures increased, such as in hypertension, chordae forces also increased. Overall, FBG sensors are a viable, durable, and high-fidelity sensing technology that can be effectively used to measure mitral valve chordae forces and overcome some limitations of other such technologies.

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Section: Discussionmentioning

confidence: 99%

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Paulsen

Bae

Imbrie-Moore

et al. 2019

Journal of Biomechanical Engineering

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“…Other percutaneous procedures for tissue manipulation involved FBGs-based needles for biopsies and epidural punctures [142]- [144]. Solutions for tissue-tool tip force sensing have been proposed in the form of needle equipped with FBGs.…”

Section: ) Tissue Manipulationmentioning

confidence: 99%

Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review

et al. 2020

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In the last decades, fiber Bragg gratings (FBGs) have become increasingly attractive to medical applications due to their unique properties such as small size, biocompatibility, immunity to electromagnetic interferences, high sensitivity and multiplexing capability. FBGs have been employed in the development of surgical tools, assistive devices, wearables, and biosensors, showing great potentialities for medical uses. This paper reviews the FBG-based measuring systems, their principle of work, and their applications in medicine and healthcare. Particular attention is given to sensing solutions for biomechanics, minimally invasive surgery, physiological monitoring, and medical biosensing. Strengths, weaknesses, open challenges, and future trends are also discussed to highlight how FBGs can meet the demands of nextgeneration medical devices and healthcare system. INDEX TERMS biomechanics, biosensing, fiber Bragg grating sensors, minimally invasive surgery, physiological monitoring.

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“…The haptics group at the Stanford University led by Mark Cutkosky has developed several iterations of FBG sensor for needle shape sensing [55] and force sensing [51]. Elayaperumal et al [51] designed a 3-DOF FBG force sensor to measure the insertion force at the needle tip.…”

Section: Fiber Optic Force Sensing Principlesmentioning

confidence: 99%

“…Elayaperumal et al [51] designed a 3-DOF FBG force sensor to measure the insertion force at the needle tip. They evaluated the benefit of haptic feedback with an agar phantom with membranes made of Shore 2A durometer silicone that mimics the connective tissue layer in natural visceral membranes.…”

Section: Fiber Optic Force Sensing Principlesmentioning

confidence: 99%

Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

Iordachita

Tokuda

et al. 2017

IEEE Sensors J.

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Magnetic Resonance Imaging (MRI) provides both anatomical imaging with excellent soft tissue contrast and functional MRI imaging (fMRI) of physiological parameters. The last two decades have witnessed the manifestation of increased interest in MRI-guided minimally invasive intervention procedures and fMRI for rehabilitation and neuroscience research. Accompanying the aspiration to utilize MRI to provide imaging feedback during interventions and brain activity for neuroscience study, there is an accumulated effort to utilize force sensors compatible with the MRI environment to meet the growing demand of these procedures, with the goal of enhanced interventional safety and accuracy, improved efficacy and rehabilitation outcome. This paper summarizes the fundamental principles, the state of the art development and challenges of fiber optic force sensors for MRI-guided interventions and rehabilitation. It provides an overview of MRI-compatible fiber optic force sensors based on different sensing principles, including light intensity modulation, wavelength modulation, and phase modulation. Extensive design prototypes are reviewed to illustrate the detailed implementation of these principles. Advantages and disadvantages of the sensor designs are compared and analyzed. A perspective on the future development of fiber optic sensors is also presented which may have additional broad clinical applications. Future surgical interventions or rehabilitation will rely on intelligent force sensors to provide situational awareness to augment or complement human perception in these procedures.

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Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Cited by 33 publications

References 28 publications

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review

Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

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