Development of an Instrumented Surgical Setup for Quantifying Displacement and Force in Surgical Dissection

2015 ◽  
Author(s):  
K. C. Wang ◽  
K. Grant ◽  
Q. Sun ◽  
L. S. Gan ◽  
K. Zareinia ◽  
...  
Keyword(s):  
Brain Structures ◽  
Interaction Force ◽  
Computational Techniques ◽  
Interaction Forces ◽  
Mean Values ◽  
Surgical Simulators ◽  
Tissue Interaction ◽  
Force Components ◽  
Sylvian Cistern ◽  
Force Data

Knowledge of positional and force properties of surgical dissection in neurosurgery is essential in developing simulation platforms for neurosurgical training such that realistic motion and perception can be conveyed to the trainee during practice. Most proposed models in literature utilize computational techniques to formulate required parameters. However, these models are not realistic enough compared to data obtained from experiments on real brain. Therefore, developing a setup to measure the position, orientation, and interaction forces will help researchers formulate realistic parameters. This paper presents the development of such a setup for quantification of displacements and tool-tissue interaction forces during performance of microsurgical tasks. A bipolar forceps is equipped with a set of force sensing elements to measure the tool-tissue interaction force components. The position and orientation of the forceps tips are measured by attaching a tracker to the bipolar forceps. To show proof-of-concept, an experienced surgeon and one assistant surgeon performed 35 neurosurgical tasks (320 trials) on a cadaver brain (previously-frozen) using the instrumented setup. Positional and force data of the bipolar forceps were recorded during surgical dissection of different brain structures. This paper reports results collected from two microsurgical tasks over 40 trials: dissection of sylvian cistern arachnoid (SCA) and dissection of middle cerebral artery (MCA). Results showed that the mean values of interaction forces during dissection of MCA were smaller than dissecting SCA. The maximum forces observed were 1.94 N and 1.75 N for SCA and MCA, respectively. The application of quantifying such parameters using the developed setup will be in training neurosurgery residents using surgical simulators in which the knowledge of brain tissue parameters is required to formulate the tissue model.

scholarly journals Treatment of Glioma Using neuroArm Surgical System

2016 ◽  
Vol 2016 ◽  
pp. 1-8 ◽  
Author(s):  
Yaser Maddahi ◽  
Kourosh Zareinia ◽  
Liu Shi Gan ◽  
Christina Sutherland ◽  
Sanju Lama ◽  
...  
Keyword(s):  
Anaplastic Astrocytoma ◽  
Glioma Surgery ◽  
Who Grade ◽  
Interaction Forces ◽  
Mean Values ◽  
Tissue Interaction ◽  
Oligodendroglial Component ◽  
Size Type ◽  
Who Grade Iii ◽  
Grade Iii

The use of robotic technology in the surgical treatment of brain tumour promises increased precision and accuracy in the performance of surgery. Robotic manipulators may allow superior access to narrow surgical corridors compared to freehand or conventional neurosurgery. This paper reports values and ranges of tool-tissue interaction forces during the performance of glioma surgery using an MR compatible, image-guided neurosurgical robot called neuroArm. The system, capable of microsurgery and stereotaxy, was used in the surgical resection of glioma in seven cases. neuroArm is equipped with force sensors at the end-effector allowing quantification of tool-tissue interaction forces and transmits force of dissection to the surgeon sited at a remote workstation that includes a haptic interface. Interaction forces between the tool tips and the brain tissue were measured for each procedure, and the peak forces were quantified. Results showed maximum and minimum peak force values of 2.89 N (anaplastic astrocytoma, WHO grade III) and 0.50 N (anaplastic oligodendroglioma, WHO grade III), respectively, with the mean of peak forces varying from case to case, depending on type of the glioma. Mean values of the peak forces varied in range of 1.27 N (anaplastic astrocytoma, WHO grade III) to 1.89 N (glioblastoma with oligodendroglial component, WHO grade IV). In some cases, ANOVA test failed to reject the null hypothesis of equality in means of the peak forces measured. However, we could not find a relationship between forces exerted to the pathological tissue and its size, type, or location.

scholarly journals Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

2016 ◽  
Vol 8 (5) ◽  
Author(s):  
Baoliang Zhao ◽  
Carl A. Nelson
Keyword(s):  
Force Feedback ◽  
Estimation Method ◽  
Interaction Force ◽  
Normal Function ◽  
Degree Of Freedom ◽  
Force Estimation ◽  
Robot Assisted ◽  
Interaction Forces ◽  
Tissue Interaction ◽  
Surgical Tool

Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool–tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool–tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-of-freedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool–tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool–tissue interaction forces in real time, thereby increasing surgical efficiency and safety.

scholarly journals Whole-brain 3D MR fingerprinting brain imaging: clinical validation and feasibility to patients with meningioma

2021 ◽  
Author(s):  
Thomaz R. Mostardeiro ◽  
Ananya Panda ◽  
Robert J. Witte ◽  
Norbert G. Campeau ◽  
Kiaran P. McGee ◽  
...  
Keyword(s):  
White Matter ◽  
Statistical Significance ◽  
Relaxation Times ◽  
Brain Structures ◽  
Centrum Semiovale ◽  
In Vivo Evaluation ◽  
Whole Brain ◽  
Mean Values ◽  
Caudate Head

Abstract Purpose MR fingerprinting (MRF) is a MR technique that allows assessment of tissue relaxation times. The purpose of this study is to evaluate the clinical application of this technique in patients with meningioma. Materials and methods A whole-brain 3D isotropic 1mm3 acquisition under a 3.0T field strength was used to obtain MRF T1 and T2-based relaxometry values in 4:38 s. The accuracy of values was quantified by scanning a quantitative MR relaxometry phantom. In vivo evaluation was performed by applying the sequence to 20 subjects with 25 meningiomas. Regions of interest included the meningioma, caudate head, centrum semiovale, contralateral white matter and thalamus. For both phantom and subjects, mean values of both T1 and T2 estimates were obtained. Statistical significance of differences in mean values between the meningioma and other brain structures was tested using a Friedman’s ANOVA test. Results MR fingerprinting phantom data demonstrated a linear relationship between measured and reference relaxometry estimates for both T1 (r2 = 0.99) and T2 (r2 = 0.97). MRF T1 relaxation times were longer in meningioma (mean ± SD 1429 ± 202 ms) compared to thalamus (mean ± SD 1054 ± 58 ms; p = 0.004), centrum semiovale (mean ± SD 825 ± 42 ms; p < 0.001) and contralateral white matter (mean ± SD 799 ± 40 ms; p < 0.001). MRF T2 relaxation times were longer for meningioma (mean ± SD 69 ± 27 ms) as compared to thalamus (mean ± SD 27 ± 3 ms; p < 0.001), caudate head (mean ± SD 39 ± 5 ms; p < 0.001) and contralateral white matter (mean ± SD 35 ± 4 ms; p < 0.001) Conclusions Phantom measurements indicate that the proposed 3D-MRF sequence relaxometry estimations are valid and reproducible. For in vivo, entire brain coverage was obtained in clinically feasible time and allows quantitative assessment of meningioma in clinical practice.

Estimating needle-tissue interaction forces for hollow needles using fiber Bragg grating sensors

2016 ◽  
Author(s):  
Saurabh Kumar ◽  
V. Shrikanth ◽  
Bharadwaj Amrutur ◽  
Sundarrajan Asokan ◽  
M. S. Bobji
Keyword(s):  
Fiber Bragg Grating ◽  
Bragg Grating ◽  
Interaction Forces ◽  
Tissue Interaction ◽  
Fiber Bragg Grating Sensors

scholarly journals On Vessel to Vessel Interaction during Head-on encounter

10.18048/5303 ◽  
2017 ◽  
Vol 53 (1) ◽  
pp. 35-52
Author(s):  
David Brčić ◽  
Mate Barić ◽  
Robert Mohović
Keyword(s):  
Interaction Force ◽  
Post Processing ◽  
Strong Force ◽  
Main Factors ◽  
Force Components ◽  
Mathematical Relations ◽  
Relevant Factors ◽  
Interaction Phenomenon

Interaction of two vessels during head-on encounter acts as short and strong force. Consequences can reflect on vessels’ handling causing unwanted effects. This phenomenon was elaborated in the paper, considering influence of interaction force and its dependence on main recognized factors: mutual vessels’ distance, speed and depth under the keel. Besides interaction force components, analyses comprised other relevant factors as vessel’ heading, course alterations and drift of vessel due to interaction. Planned and, according to main factors, defined scenarios were conducted in navigational simulator with usage of navigational areas creation tools. After simulations and data post-processing, obtained results were summarized. Correlation of results with mathematical relations describing interaction was conducted. In the conclusion chapter, final inferences are stated, with some of observations which in the opinion of authors are significant. Conducted analyses, obtained results and derived conclusions represent basis for further research, thus future activities regarding interaction phenomenon are proposed.

Mechanical System Modelling Using Physics-Based and Data-Based Subsystems

2020 ◽  
Author(s):  
Siamak Arbatani ◽  
József Kövecses
Keyword(s):  
Mechanical System ◽  
Interaction Force ◽  
Point Of View ◽  
Training Data ◽  
System Modelling ◽  
Core Element ◽  
Interaction Forces ◽  
Force Systems ◽  
Using Data ◽  
Novel Concept

Abstract Mechanical systems have been traditionally represented using parametric physics-based models. In this work, we introduce a novel concept, in this part of the mechanical system is represented using data-based subsystem models, and the overall mechanical system model is composed of these data-based and other, physics-based subsystems. A core element is the interfacing of the subsystems, which gives rise to interaction forces. The interfacing problem is formulated in a way that makes it possible to give a general representation to the interaction forces. We demonstrate that from the point of view of the physics-based subsystems the important element is that the data-based models can represent the interaction force systems properly. The data-based subsystems are developed using deep recurrent neural networks, and the training data is generated based on simulations using the fully parametric physics-based model of the system. Such training data could also be obtained through physical experimentation.

Numerical Study on Electrokinetic Interaction Between a Pair of Cylindrical Colloidal Particles

2009 ◽  
Author(s):  
Dolfred Vijay Fernandes ◽  
Sangmo Kang ◽  
Yong Kweon Suh
Keyword(s):  
Flow Field ◽  
Electric Field ◽  
Colloidal Particles ◽  
Stokes Equations ◽  
Separation Efficiency ◽  
Numerical Study ◽  
Interaction Force ◽  
Surface Element ◽  
Immersed Boundary ◽  
Interaction Forces

Electrophoresis is the motion of dispersed particles relative to a fluid under the influence of an electric field. Presently this phenomenon of electrokinetics is widely used in biotechnology for the separation of proteins, sequencing of polypeptide chains etc. The separation efficiency of these biomolecules is affected by their aggregation. Thus it is important to study the interaction forces between the molecules. In this study we calculate the electrophoretic motion of a pair of colloidal particles under axial electric field. The hydrodynamic and electric double layer (EDL) interaction forces are calculated numerically. The EDL interaction force is calculated from electric field distribution around the particle using Maxwell stress tensor and the hydrodynamic force is calculated from the flow field obtained from the solution of Stokes equations. The continuous forcing approach of immersed boundary method is used to obtain flow field around the moving particles. The EDL distribution around the particles is obtained by solving Poisson-Nernst-Planck (PNP) equations on a hybrid grid system. The EDL interaction force calculated from numerical solution is compared with the one obtained from surface element integration (SEI) method.

Development of a Force Sensing Instrument Assisted Soft Tissue Mobilization Device

2016 ◽  
Author(s):  
Ahmed M. Alotaibi ◽  
Sohel Anwar ◽  
M. Terry Loghmani ◽  
Stanley Chien
Keyword(s):  
Soft Tissue ◽  
Load Cell ◽  
Force Measurements ◽  
Clinical Practices ◽  
Stroke Frequency ◽  
Graston Technique ◽  
Overall Design ◽  
Force Components ◽  
Soft Tissue Mobilization ◽  
Force Data

Instrument assisted soft tissue mobilization (IASTM) is a form of massage using rigid manufactured or cast devices. The delivered force, which is a critical parameter in massage during IASTM, has not been measured or standardized for most clinical practices. In addition to the force, the angle of treatment and frequency play an important role during IASTM. As a result, there is a strong need to characterize the delivered force to a patient, angle of treatment, and stroke frequency. This paper proposes a novel mechatronic design for a specific instrument from Graston Technique® (Model GT-3), which is a frequently used tool to clinically deliver localize pressure to the soft tissue. The design uses a 3D load cell, which can measure all three force components force simultaneously. The overall design is implemented with an IMUduino microcontroller chip which can also measure tool orientation angles and provide computed stroke frequency. The prototype of the mechatronic IASTM tool was validated for force measurements using an electronic plate scale that provided the baseline force values to compare with the applied force magnitudes measured by the device. The load cell measurements and the scale readings were found to be in agreement within the expected degree of accuracy. The stroke frequency was computed using the force data and determining the peaks during force application. The orientation angles were obtained from the built-in sensors in the microchip.

Interaction Force Between Thin Film Disk Media and Elastic Solids Investigated by Atomic Force Microscope

1990 ◽  
Vol 112 (3) ◽  
pp. 567-572 ◽  
Author(s):  
T. Miyamoto ◽  
R. Kaneko ◽  
Y. Ando
Keyword(s):  
Thin Film ◽  
Single Crystal ◽  
Single Crystal Silicon ◽  
Static Friction ◽  
Interaction Force ◽  
Elastic Solids ◽  
Crystal Silicon ◽  
Interaction Forces ◽  
Liquid Lubricant ◽  
Atomic Force

Atomic force microscopy is used to investigate the interaction force between the sharp tips of various elastic solids and four different samples. The samples are: thin film disk media coated with functional liquid lubricant having diol end groups, unlubricated disk media, a single-crystal silicon wafer, and Au evaporated onto single-crystal silicon. Relationships between the interaction and static friction force of disk media and a taper flat type head slider are examined. The interaction force between a disk medium coated with a functional liquid lubricant greater than 11.0 nm thick and tungsten tips with radii of 5 μm-100 μm is caused by the functional liquid lubricant meniscus, as pointed out by McFarlane and Tabor. However, at a thickness of several nanometers, the interaction force has a lower value than that for lubricant thicknesses above 11.0 nm. The interaction force has a minimum value of 0.4 μN at the functional liquid lubricant thickness of 2.0 nm. Mean interaction forces of the tungsten, Al2O3 − TiC and Si3N4 tips on a disk medium coated with a 2.0-nm-thick functional liquid lubricant are less than 0.1 times those for an unlubricated disk medium. Interaction forces of the SiC tip show very low values, even when the disk medium is unlubricated. Static friction force between a thin-film disk medium and a head or sphere is dependent on the interaction force between the medium and a tip that is made of the same material as the head or sphere. The use of an atomic force microscope (AFM), may allow the surface structure to be more thoroughly analyzed.

scholarly journals Toward an Integrated Intervention and Assessment of Robot-Based Rehabilitation

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Amirhossein Majidirad ◽  
Yimesker Yihun ◽  
Laila Cure
Keyword(s):  
Force Sensor ◽  
Interaction Force ◽  
Human Robot Interaction ◽  
Feature Reduction ◽  
Physiological Data ◽  
Training Procedure ◽  
Interaction Forces ◽  
Response Data ◽  
Robotic Devices ◽  
Research Challenge

Abstract This study presents robot-based rehabilitation and its assessment. Robotic devices have significantly been useful to help therapists do the training procedure consistently. However, as robotic devices interface with humans, quantifying the interaction and its intended outcomes is still a research challenge. In this study, human–robot interaction during rehabilitation is assessed based on measurable interaction forces and human physiological response data, and correlations are established to plan the intervention and effective limb trajectories within the intended rehabilitation and interaction forces. In this study, the Universal Robot 5 (UR5) is used to guide and support the arm of a subject over a predefined trajectory while recording muscle activities through surface electromyography (sEMG) signals using the Trigno wireless DELSYS devices. The interaction force is measured through the force sensor mounted on the robot end-effector. The force signals and the human physiological data are analyzed and classified to infer the related progress. Feature reduction and selection techniques are used to identify redundant inputs and outputs.

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