Multilayer Needle Insertion Modeling for Robotic Percutaneous Therapy

Author(s):  
Alexandre Carra ◽  
Juan Carlos Avila-Vilchis
Author(s):  
Olivier Piccin ◽  
Pierre Renaud ◽  
Laurent Barbe´ ◽  
Bernard Bayle ◽  
Benjamin Maurin ◽  
...  

In this paper, a new robotized needle insertion device is proposed for computer-assisted percutaneous therapy. The insertion device is integrated in a robotic system dedicated to gesture guidance in a Computed Tomography (CT) scan. The presented design fulfills the stringent requirements of such a medical application: compatibility with a CT-scan and haptic control by the practitioner are ensured as well as safety and sterilization. The novel design of the insertion device is first presented, outlining its main properties, before introducing preliminary experimental results.


2018 ◽  
Author(s):  
M Hollenbach ◽  
J Feisthammel ◽  
J Mössner ◽  
A Hoffmeister

2012 ◽  
Vol 21 (4) ◽  
pp. 470-489 ◽  
Author(s):  
Amine Chellali ◽  
Cedric Dumas ◽  
Isabelle Milleville-Pennel

In interventional radiology, physicians require high haptic sensitivity and fine motor skills development because of the limited real-time visual feedback of the surgical site. The transfer of this type of surgical skill to novices is a challenging issue. This paper presents a study on the design of a biopsy procedure learning system. Our methodology, based on a task-centered design approach, aims to bring out new design rules for virtual learning environments. A new collaborative haptic training paradigm is introduced to support human-haptic interaction in a virtual environment. The interaction paradigm supports haptic communication between two distant users to teach a surgical skill. In order to evaluate this paradigm, a user experiment was conducted. Sixty volunteer medical students participated in the study to assess the influence of the teaching method on their performance in a biopsy procedure task. The results show that to transfer the skills, the combination of haptic communication with verbal and visual communications improves the novices’ performance compared to conventional teaching methods. Furthermore, the results show that, depending on the teaching method, participants developed different needle insertion profiles. We conclude that our interaction paradigm facilitates expert-novice haptic communication and improves skills transfer; and new skills acquisition depends on the availability of different communication channels between experts and novices. Our findings indicate that the traditional fellowship methods in surgery should evolve to an off-patient collaborative environment that will continue to support visual and verbal communication, but also haptic communication, in order to achieve a better and more complete skills training.


2014 ◽  
Vol 30 (6) ◽  
pp. 413-414 ◽  
Author(s):  
Gorm Erlend Oesterlie ◽  
Klaus Kjaer Petersen ◽  
Lars Knudsen ◽  
Tine Brink Henriksen

Author(s):  
Sarah Latus ◽  
Johanna Sprenger ◽  
Maximilian Neidhardt ◽  
Julia Schadler ◽  
Alexandra Ron ◽  
...  
Keyword(s):  

2021 ◽  
pp. 112972982199853
Author(s):  
Jens M Poth ◽  
Stefan F Ehrentraut ◽  
Se-Chan Kim

Central venous catheters (CVC) are widely used in critically ill patients and in those undergoing major surgery. Significant adverse events, such as pneumothorax and hemothorax, can be caused by needle insertion during CVC insertion. CVC misplacement is less often described, yet equally important, as it can lead to deleterious complications. Here, we describe a case in which misplacement of a guidewire following infraclavicular puncture of the right axillary vein was detected by continuous ultrasound employing the right supraclavicular fossa view. Utilizing this ultrasound view, the insertion approach to the vessel was changed and correct CVC placement could be achieved. While ultrasound guidance is widely accepted for vessel puncture, this case demonstrates the value of continuous ultrasound guidance for the entire process of CVC insertion: vessel puncture, correct guidewire advancement, catheter placement, and exclusion of complications such as pneumothorax. It also shows that there should be a high index of suspicion for guidewire misplacement, even after successful venipuncture. In conclusion, ultrasound protocols covering the complete CVC insertion process should be implemented into current clinical practice.


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