11 research outputs found
Optical Fiber-Based Needle Shape Sensing in Real Tissue: Single Core vs. Multicore Approaches
Flexible needle insertion procedures are common for minimally-invasive
surgeries for diagnosing and treating prostate cancer. Bevel-tip needles
provide physicians the capability to steer the needle during long insertions to
avoid vital anatomical structures in the patient and reduce post-operative
patient discomfort. To provide needle placement feedback to the physician,
sensors are embedded into needles for determining the real-time 3D shape of the
needle during operation without needing to visualize the needle
intra-operatively. Through expansive research in fiber optics, a plethora of
bio-compatible, MRI-compatible, optical shape-sensors have been developed to
provide real-time shape feedback, such as single-core and multicore fiber Bragg
gratings. In this paper, we directly compare single-core fiber-based and
multicore fiber-based needle shape-sensing through identically constructed,
four-active area sensorized bevel-tip needles inserted into phantom and \exvivo
tissue on the same experimental platform. In this work, we found that for
shape-sensing in phantom tissue, the two needles performed identically with a
-value of , but in \exvivo real tissue, the single-core fiber
sensorized needle significantly outperformed the multicore fiber configuration
with a -value of . This paper also presents the experimental
platform and method for directly comparing these optical shape sensors for the
needle shape-sensing task, as well as provides direction, insight and required
considerations for future work in constructively optimizing sensorized needles
Multi-Contact Force-Sensing Guitar for Training and Therapy
Hand injuries from repetitive high-strain and physical overload can hamper or
even end a musician's career. To help musicians develop safer playing habits,
we developed a multiplecontact force-sensing array that can substitute as a
guitar fretboard. The system consists of 72 individual force sensing modules,
each containing a flexure and a photointerrupter that measures the
corresponding deflection when forces are applied. The system is capable of
measuring forces between 0-25 N applied anywhere within the first 12 frets at a
rate of 20 Hz with an average accuracy of 0.4 N and a resolution of 0.1 N.
Accompanied with a GUI, the resulting prototype was received positively as a
useful tool for learning and injury prevention by novice and expert musicians.Comment: IEEE Sensor Conference, 201
Haptic-Enhanced Virtual Reality Simulator for Robot-Assisted Femur Fracture Surgery
In this paper, we develop a virtual reality (VR) simulator for the Robossis
robot-assisted femur fracture surgery. Due to the steep learning curve for such
procedures, a VR simulator is essential for training surgeon(s) and staff. The
Robossis Surgical Simulator (RSS) is designed to immerse user(s) in a realistic
surgery setting using the Robossis system as completed in a previous real-world
cadaveric procedure. The RSS is designed to interface the Sigma-7 Haptic
Controller with the Robossis Surgical Robot (RSR) and the Meta Quest VR
headset. Results show that the RSR follows user commands in 6 DOF and prevents
the overlapping of bone segments. This development demonstrates a promising
avenue for future implementation of the Robossis system.Comment: This paper is submitted to the IEEE Haptic Symposium 202
Design and Experimental Evaluation of a Haptic Robot-Assisted System for Femur Fracture Surgery
In the face of challenges encountered during femur fracture surgery, such as
the high rates of malalignment and X-ray exposure to operating personnel,
robot-assisted surgery has emerged as an alternative to conventional
state-of-the-art surgical methods. This paper introduces the development of
Robossis, a haptic system for robot-assisted femur fracture surgery. Robossis
comprises a 7-DOF haptic controller and a 6-DOF surgical robot. A unilateral
control architecture is developed to address the kinematic mismatch and the
motion transfer between the haptic controller and the Robossis surgical robot.
A real-time motion control pipeline is designed to address the motion transfer
and evaluated through experimental testing. The analysis illustrates that the
Robossis surgical robot can adhere to the desired trajectory from the haptic
controller with an average translational error of 0.32 mm and a rotational
error of 0.07 deg. Additionally, a haptic rendering pipeline is developed to
resolve the kinematic mismatch by constraining the haptic controller (user
hand) movement within the permissible joint limits of the Robossis surgical
robot. Lastly, in a cadaveric lab test, the Robossis system assisted surgeons
during a mock femur fracture surgery. The result shows that Robossis can
provide an intuitive solution for surgeons to perform femur fracture surgery.Comment: This paper is to be submitted to an IEEE journa
1.5 T augmented reality navigated interventional MRI: paravertebral sympathetic plexus injections
PURPOSE:The high contrast resolution and absent ionizing radiation of interventional magnetic resonance imaging (MRI) can be advantageous for paravertebral sympathetic nerve plexus injections. We assessed the feasibility and technical performance of MRI-guided paravertebral sympathetic injections utilizing augmented reality navigation and 1.5 T MRI scanner.METHODS:A total of 23 bilateral injections of the thoracic (8/23, 35%), lumbar (8/23, 35%), and hypogastric (7/23, 30%) paravertebral sympathetic plexus were prospectively planned in twelve human cadavers using a 1.5 Tesla (T) MRI scanner and augmented reality navigation system. MRI-conditional needles were used. Gadolinium-DTPA-enhanced saline was injected. Outcome variables included the number of control magnetic resonance images, target error of the needle tip, punctures of critical nontarget structures, distribution of the injected fluid, and procedure length.RESULTS: Augmented-reality navigated MRI guidance at 1.5 T provided detailed anatomical visualization for successful targeting of the paravertebral space, needle placement, and perineural paravertebral injections in 46 of 46 targets (100%). A mean of 2 images (range, 1–5 images) were required to control needle placement. Changes of the needle trajectory occurred in 9 of 46 targets (20%) and changes of needle advancement occurred in 6 of 46 targets (13%), which were statistically not related to spinal regions (P = 0.728 and P = 0.86, respectively) and cadaver sizes (P = 0.893 and P = 0.859, respectively). The mean error of the needle tip was 3.9±1.7 mm. There were no punctures of critical nontarget structures. The mean procedure length was 33±12 min.CONCLUSION:1.5 T augmented reality-navigated interventional MRI can provide accurate imaging guidance for perineural injections of the thoracic, lumbar, and hypogastric sympathetic plexus
Robotic assistant for transperineal prostate interventions
Abstract. Numerous studies have demonstrated the efficacy of imageguided needle-based therapy and biopsy in the management of prostate cancer. The accuracy of traditional prostate interventions performed using transrectal ultrasound (TRUS) is limited by image fidelity, needle template guides, needle deflection and tissue deformation. Magnetic Resonance Imaging (MRI) is an ideal modality for guiding and monitoring such interventions due to its excellent visualization of the prostate, its sub-structure and surrounding tissues. We have designed a comprehensive robotic assistant system that allows prostate biopsy and brachytherapy procedures to be performed entirely inside a 3T closed MRI scanner. We present a detailed design of the robotic manipulator and an evaluation of its usability and MR compatibility