scholarly journals Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions

2019 ◽  
Vol 04 (01) ◽  
pp. 1842003
Author(s):  
Pedro Moreira ◽  
Leanne Kuil ◽  
Pedro Dias ◽  
Ronald Borra ◽  
Sarthak Misra
Keyword(s):  
Haptic Feedback ◽  
Target Location ◽  
Human Subjects ◽  
Reconstruction Algorithm ◽  
Needle Insertion ◽  
Target Localization ◽  
Haptic Device ◽  
Dice Similarity Coefficient ◽  
Localization Algorithm ◽  
Insertion Depth

Prostate cancer is one of the leading causes of death in men. Prostate interventions using magnetic resonance imaging (MRI) benefits from high tissue contrast if compared to other imaging modalities. The Minimally Invasive Robotics In An MRI environment (MIRIAM) robot is an MRI-compatible system able to steer different types of needles towards a point of interest using MRI guidance. However, clinicians can be reluctant to give the robot total control of the intervention. This work integrates a haptic device in the MIRIAM system to allow input from the clinician during the insertion. A shared control architecture is achieved by letting the clinician control the insertion depth via the haptic device, while the robotic system controls the needle orientation. The clinician receives haptic feedback based on the insertion depth and tissue characteristics. Four control laws relating the motion of the master robot (haptic device) to the motion of the slave robot (MIRIAM robot) are presented and evaluated. Quantitative and qualitative results from 20 human subjects demonstrate that the squared-velocity control law is the most suitable option for our application. Additionally, a pre-operative target localization algorithm is presented in order to provide the robot with the target location. The target localization and reconstruction algorithm are validated in phantom and patient images with an average dice similarity coefficient (DSC) of 0.78. The complete system is validated through experiments by inserting a needle towards a target within the MRI scanner. Four human subjects perform the experiment achieving an average targeting error of 3.4[Formula: see text]mm.

scholarly journals Haptic Manipulation of Microspheres Using Optical Tweezers Under the Guidance of Artificial Force Fields

2008 ◽  
Vol 17 (4) ◽  
pp. 344-364 ◽  
Author(s):  
Ibrahim Bukusoglu ◽  
Cagatay Basdogan ◽  
Alper Kiraz ◽  
Adnan Kurt
Keyword(s):  
Optical Tweezers ◽  
Potential Field ◽  
Haptic Feedback ◽  
Human Subjects ◽  
Experimental Studies ◽  
Ccd Camera ◽  
Haptic Device ◽  
Task Completion ◽  
Optical Microresonators ◽  
And Control

Using optical tweezers (OT) and a haptic device, microspheres having diameters ranging from 3 to 4 μm (floating in a fluid solution) are manipulated in order to form patterns of coupled optical microresonators by assembling the spheres via chemical binding. For this purpose, biotin-coated microspheres trapped by a laser beam are steered and chemically attached to an immobilized streptavidin-coated sphere (i.e., the anchor sphere) one by one using an xyz piezo scanner controlled by a haptic device. The positions of all spheres in the scene are detected using a CCD camera and a collision-free path for each manipulated sphere is generated using the potential field approach. The forces acting on the manipulated particle due to the viscosity of the fluid and the artificial potential field are scaled and displayed to the user through the haptic device for better guidance and control during steering. In addition, a virtual fixture is implemented such that the desired angle of approach and strength are achieved during the binding phase. Our experimental studies in virtual and real environments with eight human subjects show that haptic feedback significantly improves the user performance by reducing the task completion time, the number of undesired collisions during steering, and the positional errors during binding. To our knowledge, this is the first time that a haptic device is coupled with OTs to guide the user during an optical manipulation task involving steering and assembly of microspheres to construct a coupled microresonator.

A Real-Time Simulation for Path Planning in Needle Insertion Tasks

2015 ◽  
Author(s):  
Bardia Konh ◽  
Parsaoran Hutapea
Keyword(s):  
Path Planning ◽  
Target Location ◽  
Surgical Simulation ◽  
Needle Insertion ◽  
Computational Time ◽  
Insertion Depth ◽  
Tissue Properties ◽  
Nonlinear Properties ◽  
Time Simulation ◽  
And Training

In the last two decades it has been proposed to use actuation forces of shape memory alloy wires to develop an active needling tool to facilitate the conventional needle-based procedures. In these procedures it is always desired to guide the needle though an accurate trajectory reaching the target location. In some cases it is also desired to maintain a curved path to avoid obstacles and prevent damage to sensitive organs. Therefore, it is of a great importance to investigate the interactions of needle within tissue and understand the mechanics of the needle insertion procedure. The nonlinear properties of the deforming tissue while needle is inserted make the prediction of the needle tip placement difficult. Previous studies include experimental and analytical investigations based on a particular tissue properties and needle shape. In this work mechanics of a bevel-tipped needle inserted into soft tissue has been investigated via numerical simulation. The nonlinear properties of the tissue have been implemented in the model. This model has been generated in LS-DYNA software using Arbitrary-Eulerian-Lagrangian formulation for the solid-fluid interactions. Total insertion depth of 150mm of a 0.5mm diameter needle has been modeled. The small stiff element sizes of the needle dictate an expensive computational time. In order to have reasonable computational costs many assumptions were made such as decreasing the Young’s Modulus of the needle and tissue by the same factor. Needle insertion tests have also been performed to evaluate the accuracy of the simulations. The error of less than 10% was found and therefore validated our simulation approach. Using this model it would be possible to predict the steerability of different configurations of the needle inside the tissue. It can also be used for surgical simulation and training purposes and path planning.

Augmented Haptic Guidance for Needle Insertion with a 2-DoF Wrist-Worn Haptic Device

2021 ◽  
Author(s):  
Mine Sarac ◽  
Duke Loke ◽  
Max Evans ◽  
Olivia Chong ◽  
James Saunders ◽  
...  
Keyword(s):  
Needle Insertion ◽  
Haptic Device ◽  
Haptic Guidance

Foveal Attention Modulates Responses to Peripheral Stimuli

2000 ◽  
Vol 83 (4) ◽  
pp. 2443-2452 ◽  
Author(s):  
Simo Vanni ◽  
Kimmo Uutela
Keyword(s):  
Visual Field ◽  
Target Location ◽  
Peripheral Vision ◽  
Human Subjects ◽  
Stimulus Onset ◽  
Visual Object ◽  
Frontal Eye Field ◽  
L1 Norm ◽  
Luminance Stimulus ◽  
The Right

When attending to a visual object, peripheral stimuli must be monitored for appropriate redirection of attention and gaze. Earlier work has revealed precentral and posterior parietal activation when attention has been directed to peripheral vision. We wanted to find out whether similar cortical areas are active when stimuli are presented in nonattended regions of the visual field. The timing and distribution of neuromagnetic responses to a peripheral luminance stimulus were studied in human subjects with and without attention to fixation. Cortical current distribution was analyzed with a minimum L1-norm estimate. Attention enhanced responses 100–160 ms after the stimulus onset in the right precentral cortex, close to the known location of the right frontal eye field. In subjects whose right precentral region was not distinctly active before 160 ms, focused attention commonly enhanced right inferior parietal responses between 180 and 240 ms, whereas in the subjects with clear earlier precentral response no parietal enhancement was detected. In control studies both attended and nonattended stimuli in the peripheral visual field evoked the right precentral response, whereas during auditory attention the visual stimuli failed to evoke such response. These results show that during focused visual attention the right precentral cortex is sensitive to stimuli in all parts of the visual field. A rapid response suggests bypassing of elaborate analysis of stimulus features, possibly to encode target location for a saccade or redirection of attention. In addition, load for frontal and parietal nodi of the attentional network seem to vary between individuals.

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.

scholarly journals Attention Enhancement for Exoskeleton-Assisted Hand Rehabilitation Using Fingertip Haptic Stimulation

2021 ◽  
Vol 8 ◽  
Author(s):  
Min Li ◽  
Jiazhou Chen ◽  
Guoying He ◽  
Lei Cui ◽  
Chaoyang Chen ◽  
...  
Keyword(s):  
User Study ◽  
Haptic Feedback ◽  
Human Subjects ◽  
Control Process ◽  
Water System ◽  
Recording Device ◽  
Hand Rehabilitation ◽  
Healthy Human ◽  
Hand Motion ◽  
Haptic Stimulation

Active enrollment in rehabilitation training yields better treatment outcomes. This paper introduces an exoskeleton-assisted hand rehabilitation system. It is the first attempt to combine fingertip cutaneous haptic stimulation with exoskeleton-assisted hand rehabilitation for training participation enhancement. For the first time, soft material 3D printing techniques are adopted to make soft pneumatic fingertip haptic feedback actuators to achieve cheaper and faster iterations of prototype designs with consistent quality. The fingertip haptic stimulation is synchronized with the motion of our hand exoskeleton. The contact force of the fingertips resulted from a virtual interaction with a glass of water was based on data collected from normal hand motions to grasp a glass of water. System characterization experiments were conducted and exoskeleton-assisted hand motion with and without the fingertip cutaneous haptic stimulation were compared in an experiment involving healthy human subjects. Users’ attention levels were monitored in the motion control process using a Brainlink EEG-recording device and software. The results of characterization experiments show that our created haptic actuators are lightweight (6.8 ± 0.23 g each with a PLA fixture and Velcro) and their performance is consistent and stable with small hysteresis. The user study experimental results show that participants had significantly higher attention levels with additional haptic stimulations compared to when only the exoskeleton was deployed; heavier stimulated grasping weight (a 300 g glass) was associated with significantly higher attention levels of the participants compared to when lighter stimulated grasping weight (a 150 g glass) was applied. We conclude that haptic stimulations increase the involvement level of human subjects during exoskeleton-assisted hand exercises. Potentially, the proposed exoskeleton-assisted hand rehabilitation with fingertip stimulation may better attract user’s attention during treatment.

scholarly journals Influence of needle-insertion depth on epidural spread and clinical outcomes in caudal epidural injections: a randomized clinical trial

2018 ◽  
Vol Volume 11 ◽  
pp. 2961-2967 ◽  
Author(s):  
Sang Jun Park ◽  
Kyung Bong Yoon ◽  
Dong Ah Shin ◽  
Kiwook Kim ◽  
Tae Lim Kim ◽  
...  
Keyword(s):  
Clinical Trial ◽  
Randomized Clinical Trial ◽  
Clinical Outcomes ◽  
Needle Insertion ◽  
Insertion Depth ◽  
Epidural Injections ◽  
Caudal Epidural

scholarly journals Energy-Level Jumping Algorithm for Global Optimization in Compressive Sensing-Based Target Localization

Sensors ◽  
2019 ◽  
Vol 19 (11) ◽  
pp. 2502
Author(s):  
Tianjing Wang ◽  
Xinjie Guan ◽  
Xili Wan ◽  
Guoqing Liu ◽  
Hang Shen
Keyword(s):  
Global Optimization ◽  
Energy Level ◽  
Initial Point ◽  
Target Localization ◽  
Global Minimizer ◽  
Wireless Sensor ◽  
Localization Algorithm ◽  
Simulation Results ◽  
Sparse Solutions ◽  
Recovery Problem

Target localization is one of the essential tasks in almost applications of wireless sensor networks. Some traditional compressed sensing (CS)-based target localization methods may achieve low-precision target localization because of using locally optimal sparse solutions. Solving global optimization for the sparse recovery problem remains a challenge in CS-based target localization. In this paper, we propose a novel energy-level jumping algorithm to address this problem, which achieves high-precision target localization by solving the globally optimal sparse solution of l p -norm ( 0 < p < 1 ) minimization. By repeating the process of energy-level jumping, our proposed algorithm establishes a global convergence path from an initial point to the global minimizer. Compared with existing CS-based target localization methods, the simulation results show that our localization algorithm obtain more accurate locations of targets with the significantly reduced number of measurements.

scholarly journals Design of Telerobotic Drilling Control System with Haptic Feedback

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Faraz Shah ◽  
Ilia G. Polushin
Keyword(s):  
Virtual Environment ◽  
Haptic Feedback ◽  
Drill String ◽  
Haptic Device ◽  
Human Operator ◽  
Drilling Process ◽  
Estimation Algorithms ◽  
Servo Controller ◽  
Drive Systems ◽  
Penetration Velocity

The paper deals with the design of control algorithms for virtual reality based telerobotic system with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string/drive systems and rock cutting/penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.

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