Needle Tip Force Sensor for Medical Applications

Chadda, Romol; Wismath, Sonja; Hessinger, Markus; Schäfer, Niklas; Schlaefer, Alexander; Kupnik, Mario

doi:10.1109/sensors43011.2019.8956754

Cited by 10 publications

(4 citation statements)

References 5 publications

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“…Chadda et al developed a needle tip force sensor that can be used in biopsies and brachytherapy for haptic feedback during needle insertion. 97 The sensor can measure up to 10 N of force using siliconbased semiconductor strain gauges with an average sensitivity of Frishman et al 88 This study shows that the force acting on the robot end-effector holding a needle can be estimated without using a distal sensor.…”

Section: Distal Force Sensorsmentioning

confidence: 96%

“…Chadda et al. developed a needle tip force sensor that can be used in biopsies and brachytherapy for haptic feedback during needle insertion 97 . The sensor can measure up to 10 N of force using silicon‐based semiconductor strain gauges with an average sensitivity of 6.25 mV/N at a current of 1 mA.…”

Section: Force Measurement and Modelling Techniques For Liver Haptic ...mentioning

confidence: 99%

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A comprehensive review of haptic feedback in minimally invasive robotic liver surgery: Advancements and challenges

Selim,

Dresscher,

Abayazid

2023

Robotics Computer Surgery

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BackgroundLiver medical procedures are considered one of the most challenging because of the liver's complex geometry, heterogeneity, mechanical properties, and movement due to respiration. Haptic features integrated into needle insertion systems and other medical devices could support physicians but are uncommon. Additional training time and safety concerns make it difficult to implement in robot‐assisted surgery. The main challenges of any haptic device in a teleoperated system are the stability and transparency levels required to develop a safe and efficient system that suits the physician's needs.PurposeThe objective of the review article is to investigate whether haptic‐based teleoperation potentially improves the efficiency and safety of liver needle insertion procedures compared with insertion without haptic feedback. In addition, it looks into haptic technology that can be integrated into simulators to train novice physicians in liver procedures.MethodsThis review presents the physician's needs during liver interventions and the consequent requirements of haptic features to help the physician. This paper provides an overview of the different aspects of a teleoperation system in various applications, especially in the medical field. It finally presents the state‐of‐the‐art haptic technology in robot‐assisted procedures for the liver. This includes 3D virtual models of the liver and force measurement techniques used in haptic rendering to estimate the real‐time position of the surgical instrument relative to the liver.ResultsHaptic feedback technology can be used to navigate the surgical tool through the desired trajectory to reach the target accurately and avoid critical regions. It also helps distinguish between various textures of liver tissue.ConclusionHaptic feedback can complement the physician's experience to compensate for the lack of real‐time imaging during Computed Tomography guided (CT‐guided) liver procedures. Consequently, it helps the physician mitigate the destruction of healthy tissues and takes less time to reach the target.

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Section: Distal Force Sensorsmentioning

confidence: 96%

Section: Force Measurement and Modelling Techniques For Liver Haptic ...mentioning

confidence: 99%

A comprehensive review of haptic feedback in minimally invasive robotic liver surgery: Advancements and challenges

Selim,

Dresscher,

Abayazid

2023

Robotics Computer Surgery

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“…Sensor-based solutions have been proposed to provide additional guidance haptic feedback during MIPs. These needle-embedded sensing techniques are based mainly on measuring force through strain gauge [4] and fiber Bragg grating sensors [1,5,7,12,14] or measuring impedance [13,17]. Although they could provide significant information concerning puncture events, they require the sensors to be embedded in the needle tip or shaft in direct contact with the patient's organs and tissue, leading to sensor integration difficulties, loss of tool functionality due to required cabling, sterilization issues, and complex certification procedures.…”

Section: Introductionmentioning

confidence: 99%

“…Although they could provide significant information concerning puncture events, they require the sensors to be embedded in the needle tip or shaft in direct contact with the patient's organs and tissue, leading to sensor integration difficulties, loss of tool functionality due to required cabling, sterilization issues, and complex certification procedures. These challenges limit these solutions from being used in real clinical environments [4,13,18].…”

Section: Introductionmentioning

confidence: 99%

Study of needle punctures into soft tissue through audio and force sensing: can audio be a simple alternative for needle guidance?

et al. 2021

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Purpose Percutaneous needle insertion is one of the most common minimally invasive procedures. The clinician’s experience and medical imaging support are essential to the procedure’s safety. However, imaging comes with inaccuracies due to artifacts, and therefore sensor-based solutions were proposed to improve accuracy. However, sensors are usually embedded in the needle tip, leading to design limitations. A novel concept was proposed for capturing tip–tissue interaction information through audio sensing, showing promising results for needle guidance. This work demonstrates that this audio approach can provide important puncture information by comparing audio and force signal dynamics during insertion. Methods An experimental setup for inserting a needle into soft tissue was prepared. Audio and force signals were synchronously recorded at four different insertion velocities, and a dataset of 200 recordings was acquired. Indicators related to different aspects of the force and audio were compared through signal-to-signal and event-to-event correlation analysis. Results High signal-to-signal correlations between force and audio indicators regardless of the insertion velocity were obtained. The force curvature indicator obtained the best correlation performances to audio with more than $$70\%$$ 70 % of the correlations higher than 0.6. The event-to-event correlation analysis shows that a puncture event in the force is generally identifiable in audio and that their intensities firmly related. Conclusions Audio contains valuable information for monitoring needle tip/tissue interaction. Significant dynamics obtained from a well-known sensor as force can also be extracted from audio, regardless of insertion velocities.

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Feasibility Check: Can Audio Be a Simple Alternative to Force-Based Feedback for Needle Guidance?

Illanes

Boese

Friebe

et al. 2020

Medical Image Computing and Computer Assisted Intervention – MICCAI 2020

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Needle Tip Force Sensor for Medical Applications

Cited by 10 publications

References 5 publications

A comprehensive review of haptic feedback in minimally invasive robotic liver surgery: Advancements and challenges

A comprehensive review of haptic feedback in minimally invasive robotic liver surgery: Advancements and challenges

Study of needle punctures into soft tissue through audio and force sensing: can audio be a simple alternative for needle guidance?

Feasibility Check: Can Audio Be a Simple Alternative to Force-Based Feedback for Needle Guidance?

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