Multiactuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy

Rossa, Carlos; Fong, Jason; Usmani, Nawaid; Sloboda, Ron S.; Tavakoli, Mahdi

doi:10.1109/lra.2016.2528295

Cited by 38 publications

(18 citation statements)

References 29 publications

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“…Although the prototype device is meant to reduce the surgeon's workload and perform corrective actions on a measured and calculated basis, the proposed hand-held design still allows the surgeon to perform the usual manual steering manoeuvres such as applying lateral forces to the needle at a point between the grid template and the patient's skin [14]. In addition, corrective actions can be taken automatically by the device, manually by the surgeon, or in combination by both.…”

Section: Discussionmentioning

confidence: 99%

“…This is partially due to the significant modifications that would be necessary in the operating room in order to implement such fully automated needle insertion systems. Likewise, due to the lack of accurate needle deflection feedback, needle steering in terms of calculated rotation of the needle base is generally not manually performed by surgeons [14]. An intermediate solution to bring needle steering into clinical practice can be sought in providing oncologists with a higher degree of control over the needle insertion trajectory without modifying the clinical procedure.…”

Section: Introductionmentioning

confidence: 99%

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A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering

Rossa

Usmani

Sloboda

et al. 2017

IEEE Trans. Biomed. Eng.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering

Rossa

Usmani

Sloboda

et al. 2017

IEEE Trans. Biomed. Eng.

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“…Other work that focuses on tactile feedback on the wrists for medical applications was presented by Rossa et al [21]. They present a wrist-worn prototype and multiple vibration patterns to guide a surgeon's hand for a cancer treatment procedure (brachytherapy).…”

Section: Vibrotactile Information Representation In Medical Domainsmentioning

confidence: 99%

To Beep or Not to Beep? Evaluating Modalities for Multimodal ICU Alarms

Cobus

Heuten

2019

MTI

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Technology plays a prominent role in intensive care units (ICU), with a variety of sensors monitoring both patients and devices. A serious problem exists, however, that can reduce the sensors’ effectiveness. When important values exceed or fall below a certain threshold or sensors lose their signal, up to 350 alarms per patient a day are issued. These frequent alarms are audible in several locations on the ICU, resulting in a massive cognitive load for ICU nurses, as they must evaluate and acknowledge each alarm. “Alarm fatigue” sets in, a desensitization and delayed response time for alarms that can have severe consequences for patients and nurses. To counteract the acoustic load on ICUs, we designed and evaluated personal multimodal alarms for a wearable alarm system (WAS). The result was a lower response time and higher ratings on suitability and feasibility, as well as a lower annoyance level, compared to acoustic alarms. We find that multimodal alarms are a promising new approach to alert ICU nurses, reduce cognitive load, and avoid alarm fatigue.

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“…To the authors knowledge, this paper is the first to determine exactly which cue mappings are most effective for needle placement and insertion in an unconstrained environment. Recently, a vibrotactile wrist band was developed to guide users performing a brachytherapy task [27].…”

Section: Vibrotactile Cues For Guidance and Feedbackmentioning

confidence: 99%

“…The user is free to determine how to best orient the needle to achieve the desired trajectory. Joint space mappings are often used for movement therapy and motor training [27] [29] and guide the rotations of the wrist and elbow. In the sections below, we describe the selected vibrotactile cues for several key 2D needle movement trajectories, as well as describe the design of the tactile sleeve.…”

Section: Tactile Guidance Sleevementioning

confidence: 99%

Evaluation of tactile guidance cue mappings for emergency percutaneous needle insertion

Basu¹,

Tsai

Majewicz

2016

2016 IEEE Haptics Symposium (HAPTICS)

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In severe trauma cases, rare but fatal conditions may quickly arise, requiring immediate percutaneous needle insertion to save the patient. As there is no time to wait for experts, inexperienced individuals are required to perform these procedures, often leading to complications. We propose the design of a novel vibrotacile sleeve to guide users through this task. While realization of a robust closed-loop guidance system is far from complete, we begin this project by identifying and evaluating three major guidance cue mappings that could be used for our sleeve: (1) tool space (guiding needle orientation and insertion), (2) Cartesian space (guiding desired needle tip), and (3) joint space (guiding user elbow and wrist angles). In this paper, we aim to determine which of these mappings have the best performance in a simulated needle insertion task. We developed an adjustable sleeve consisting of a stretchable fabric with vibrotactile motors, affixed using hook-and-loop material. In a human subject study, we evaluated the effectiveness of these cues to elicit a series of desired movements (up, down, lateral motion, rotation, diagonal movement) by tracking the subject movements as they interacted with a haptic device. We found that tool space guidance mappings lead to significantly lower normalized direction error for both up/down and diagonal movements (p value <0.0001). Users also rated tool space as the easiest mapping (1.87/5, SD= 0.75) and found that diagonal movements were the most difficult cues to understand.

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Multiactuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy

Cited by 38 publications

References 29 publications

A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering

A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering

To Beep or Not to Beep? Evaluating Modalities for Multimodal ICU Alarms

Evaluation of tactile guidance cue mappings for emergency percutaneous needle insertion

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