scholarly journals Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation

2017 ◽  
Vol 13 (4) ◽  
pp. e1809 ◽  
Author(s):  
Leonardo Meli ◽  
Claudio Pacchierotti ◽  
Domenico Prattichizzo
Keyword(s):  
Experimental Evaluation ◽  
Haptic Feedback ◽  
Needle Insertion ◽  
Robot Assisted

scholarly journals Experimental analysis of robot-assisted needle insertion into porcine liver

2015 ◽  
Vol 26 (s1) ◽  
pp. S375-S380 ◽  
Author(s):  
Wendong Wang ◽  
Yikai Shi ◽  
Andrew A. Goldenberg ◽  
Xiaoqing Yuan ◽  
Peng Zhang ◽  
...  
Keyword(s):  
Experimental Analysis ◽  
Needle Insertion ◽  
Robot Assisted ◽  
Porcine Liver

scholarly journals Experimental Evaluation on Haptic Feedback Accuracy by Using Two Self-Made Haptic Devices and One Additional Interface in Robotic Teleoperation

Actuators ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 24
Author(s):  
Guan-Yang Liu ◽  
Yi Wang ◽  
Chao Huang ◽  
Chen Guan ◽  
Dong-Tao Ma ◽  
...  
Keyword(s):  
Experimental Evaluation ◽  
Haptic Feedback ◽  
Force Sensor ◽  
Interaction Force ◽  
Haptic Device ◽  
Human Hand ◽  
Haptic Devices ◽  
Input Noise ◽  
Output Force ◽  
Robotic Teleoperation

The goal of haptic feedback in robotic teleoperation is to enable users to accurately feel the interaction force measured at the slave side and precisely understand what is happening in the slave environment. The accuracy of the feedback force describing the error between the actual feedback force felt by a user at the master side and the measured interaction force at the slave side is the key performance indicator for haptic display in robotic teleoperation. In this paper, we evaluate the haptic feedback accuracy in robotic teleoperation via experimental method. A special interface iHandle and two haptic devices, iGrasp-T and iGrasp-R, designed for robotic teleoperation are developed for experimental evaluation. The device iHandle integrates a high-performance force sensor and a micro attitude and heading reference system which can be used to identify human upper limb motor abilities, such as posture maintenance and force application. When a user is asked to grasp the iHandle and maintain a fixed position and posture, the fluctuation value of hand posture is measured to be between 2 and 8 degrees. Based on the experimental results, human hand tremble as input noise sensed by the haptic device is found to be a major reason that results in the noise of output force from haptic device if the spring-damping model is used to render feedback force. Therefore, haptic rendering algorithms should be independent of hand motion information to avoid input noise from human hand to the haptic control loop in teleoperation. Moreover, the iHandle can be fixed at the end effector of haptic devices; iGrasp-T or iGrasp-R, to measure the output force/torque from iGrasp-T or iGrasp-Rand to the user. Experimental results show that the accuracy of the output force from haptic device iGrasp-T is approximately 0.92 N, and using the force sensor in the iHandle can compensate for the output force inaccuracy of device iGrasp-T to 0.1 N. Using a force sensor as the feedback link to form a closed-loop feedback force control system is an effective way to improve the accuracy of feedback force and guarantee high-fidelity of feedback forces at the master side in robotic teleoperation.

A MECHANICS-BASED MODEL FOR SIMULATING THE NEEDLE DEFLECTION IN TRANSVERSE ISOTROPIC TISSUE FOR A PERCUTANEOUS PUNCTURE

2019 ◽  
Vol 19 (06) ◽  
pp. 1950060 ◽  
Author(s):  
WANYU LIU ◽  
ZHIYONG YANG ◽  
SHAN JIANG
Keyword(s):  
Needle Insertion ◽  
Robot Assisted ◽  
Insertion Depth ◽  
Interaction Forces ◽  
Percutaneous Puncture ◽  
Needle Deflection ◽  
Isotropic Elasticity ◽  
Transverse Isotropic ◽  
Radioactive Seeds ◽  
Medical Needle

During the percutaneous puncture for robot-assisted brachytherapy, a medical needle is usually inserted into fiber-structured soft tissue which has transverse isotropic elasticity, such as muscle and skin, to deliver radioactive seeds that kill cancer cells. To place the radioactive seeds more accurately, it is necessary to assess the effect of the transverse isotropic elasticity on the needle deflection. A mechanics-based model for simulating the needle deflection in transverse isotropic tissue is developed in this paper. The anisotropic needle–tissue interaction forces are estimated and used as inputs to drive the model for simulating needle deflections for different insertion orientation angles. Automatic insertion experiments were performed on a single-layered porcine muscle at five different insertion orientation angles. The results show that the maximum difference in the tip deflection for the different insertion orientation angles is 2.99[Formula: see text]mm when the insertion depth is 50[Formula: see text]mm. The maximum simulated error of the needle axis deflection is 0.62[Formula: see text]mm for all insertion orientation angles. The developed model can successfully simulate the needle deflections inside transverse isotropic tissue for different insertion orientation angles. This work is useful for predicting and compensating for the deflection error for automatic needle insertion.

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