Penetration detection with intention recognition for cooperatively controlled robotic needle insertion

2022 ◽  
pp. 014233122110693
Author(s):  
Yiyun Wang ◽  
Hongbing Li
Keyword(s):  
Lumbar Puncture ◽  
Needle Insertion ◽  
Robot System ◽  
Position Information ◽  
Tissue Properties ◽  
Intention Recognition ◽  
Loss Of Resistance ◽  
Recognition Ability ◽  
Robot Cooperation ◽  
Penetration Detection

In lumbar puncture surgeries, force and position information throughout the insertion procedure is vital for needle tip localization, because it reflects different tissue properties. Especially in pediatric cases, the changes are always insignificant for surgeons to sense the crucial feeling of loss of resistance. In this study, a robot system is developed to tackle the major clinical difficulties. Four different control algorithms with intention recognition ability are applied on a novel lumbar puncture robot system for better human–robot cooperation. Specific penetration detection based on force and position derivatives captures the feeling of loss of resistance, which is deemed crucial for needle tip location. Kinematic and actuation modeling provides a clear description of the hardware setup. The control algorithm experiment compares the human–robot cooperation performance of proposed algorithms. The experiment also dictates the clear role of designed penetration detection criteria in capturing the penetration, improving the success rate, and ensuring operational safety.

Role of Local Anesthesia During Lumbar Puncture in Neonates

PEDIATRICS ◽  
1993 ◽  
Vol 91 (2) ◽  
pp. 379-382 ◽  
Author(s):  
Joaquim M.B. Pinheiro ◽  
Sue Furdon ◽  
Luis F. Ochoa
Keyword(s):  
Success Rate ◽  
Lumbar Puncture ◽  
Local Anesthesia ◽  
Needle Insertion ◽  
Control Group ◽  
Anatomical Landmarks ◽  
Control Groups ◽  
Lidocaine Injection ◽  
Level Of Training ◽  
Physiologic Responses

Local anesthesia decreases physiologic responses to pain in neonates but has not been used routinely during lumbar punctures in newborns, as it might obscure anatomical landmarks. However, local anesthesia may decrease newborns' struggling during lumbar puncture, thus facilitating the procedure and increasing its success rate. The success rate of lumbar punctures was compared in neonates allocated prospectively to 0.2 to 0.5 mL of 1% lidocaine anesthesia (n = 48) or a control group (n = 52). Newborns were held in a modified lateral recumbent postion (neck not flexed) and their struggling response to the various steps in the lumbar puncture was scored by the holder. The newborns' struggling motion score increased in response to lidocaine injection, but response to the subsequent spinal needle insertion was significantly decreased. Despite this decreased motion, no differences were noted in the number of attempts per lumbar puncture (1.9 ± 0.2 [SEM] in lidocaine and 2.1 ± 0.2 in control groups), rate of lumbar puncture failure (15% in lidocaine and 19% in control groups), or the number of traumatic lumbar punctures (46% in both groups). The success rate of lumbar puncture was not dependent on level of training of physicians performing the procedure. No acute complications, cerebrospinal fluid contamination, or subsequent meningitis was noted in either group. It is concluded that local anesthesia with lidocaine decreases the degree of struggling but does not alter the success rate of lumbar puncture in neonates. The practice of withholding lidocaine anesthesia from neonates undergoing lumbar punctures cannot be justified by arguing that it makes the procedure more difficult to perform.

MECHANICS-BASED BEVEL-TIP NEEDLE DEFLECTION MODEL DURING NEEDLE–SOFT TISSUE INTERACTION PROCESS

2014 ◽  
Vol 14 (05) ◽  
pp. 1450076 ◽  
Author(s):  
SHAN JIANG ◽  
XINGJI WANG ◽  
ZHILIANG SU
Keyword(s):  
Interaction Model ◽  
Needle Insertion ◽  
Force Model ◽  
Insertion Force ◽  
Simulation Accuracy ◽  
Tissue Properties ◽  
Tissue Interaction ◽  
Needle Deflection ◽  
Tissue Equivalent ◽  
Needle Insertion Force

Flexible needle insertion is performed in many clinical and brachytherapy procedures. Needle bending which results from needle–tissue interaction and needle flexibility plays a pivotal role in implantation accuracy. In this paper, a needle insertion force model and a mechanics-based needle deflection model are applied in simulating the real needle insertion process. Using tissue-equivalent materials, the needle force model is acquired from needle insertion experiments. Based on the principle of minimum potential energy, a mechanics-based model is developed to calculate needle deflection. The needle deflection model incorporates needle insertion forces model, needle–tissue interaction model, needle geometric, and tissue properties. The bending–stretching coupling and geometric non-linearity of the flexible needle are both taken into consideration in the needle deflection model. A modified p–y curves method is first introduced in depicting the lateral needle–tissue interaction. The comparison between experimental and simulation results of needle deflection shows that our mechanics-based model can simulate the deflection of the flexible needle with reasonable accuracy. Parametric studies on different geometry properties of needles show that our mechanics-based model can precisely predict the needle deflection when more than one parameter is changed. In addition, as the needle deflection results are obtained numerically by Rayleigh–Ritz approach, further study on the form of deflection formulation leads to the conclusion that choosing a higher order polynomial can improve the overall simulation accuracy.

Technology jump in the industry: human–robot cooperation in production

2020 ◽  
Vol 47 (5) ◽  
pp. 757-775
Author(s):  
Zoltan Dobra ◽  
Krishna S. Dhir
Keyword(s):  
Design Methodology ◽  
Manufacturing Industry ◽  
Current Status ◽  
Robot System ◽  
Content Type ◽  
New Directions ◽  
Academic Publications ◽  
Robot Cooperation ◽  
Human Robot Collaboration ◽  
Practical Implications

Purpose Recent years have seen a technological change, Industry 4.0, in the manufacturing industry. Human–robot cooperation, a new application, is increasing and facilitating collaboration without fences, cages or any kind of separation. The purpose of the paper is to review mainstream academic publications to evaluate the current status of human–robot cooperation and identify potential areas of further research. Design/methodology/approach A systematic literature review is offered that searches, appraises, synthetizes and analyses relevant works. Findings The authors report the prevailing status of human–robot collaboration, human factors, complexity/ programming, safety, collision avoidance, instructing the robot system and other aspects of human–robot collaboration. Practical implications This paper identifies new directions and potential research in practice of human–robot collaboration, such as measuring the degree of collaboration, integrating human–robot cooperation into teamwork theories, effective functional relocation of the robot and product design for human robot collaboration. Originality/value This paper will be useful for three cohorts of readers, namely, the manufacturers who require a baseline for development and deployment of robots; users of robots-seeking manufacturing advantage and researchers looking for new directions for further exploration of human–machine collaboration.

scholarly journals Integrating Cadaver Needle Forces Into a Haptic Robotic Simulator

2017 ◽  
Vol 12 (1) ◽  
Author(s):  
David F. Pepley ◽  
Mary A. Yovanoff ◽  
Katelin A. Mirkin ◽  
Scarlett R. Miller ◽  
David C. Han ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Force Sensing ◽  
Central Venous ◽  
Position Information ◽  
Venous Catheterization ◽  
Survey Results ◽  
Piecewise Exponential ◽  
Positive Outlook ◽  
Robotic Simulator

Accurate force simulation is essential to haptic simulators for surgical training. Factors such as tissue inhomogeneity pose unique challenges for simulating needle forces. To aid in the development of haptic needle insertion simulators, a handheld force sensing syringe was created to measure the motion and forces of needle insertions. Five needle insertions were performed into the neck of a cadaver using the force sensing syringe. Based on these measurements a piecewise exponential needle force characterization, was implemented into a haptic central venous catheterization (CVC) simulator. The haptic simulator was evaluated through a survey of expert surgeons, fellows, and residents. The maximum needle insertion forces measured ranged from 2.02 N to 1.20 N. With this information, four characterizations were created representing average, muscular, obese, and thin patients. The median survey results showed that users statistically agreed that “the robotic system made me sensitive to how patient anatomy impacts the force required to advance needles in the human body.” The force sensing syringe captured force and position information. The information gained from this syringe was able to be implemented into a haptic simulator for CVC insertions, showing its utility. Survey results showed that experts, fellows, and residents had an overall positive outlook on the haptic simulator's ability to teach haptic skills.

In-Vivo Obstetric Pressure Measurements for Patient-Specific Epidural Simulator

2014 ◽  
Author(s):  
Neil Vaughan ◽  
Venketesh N. Dubey ◽  
Michael Y. K. Wee ◽  
Richard Isaacs
Keyword(s):  
Needle Insertion ◽  
Epidural Needle ◽  
Patient Specific ◽  
Pressure Measurements ◽  
Epidural Pressure ◽  
Loss Of Resistance ◽  
New Finding ◽  
The Mean ◽  
Thickness Measurements

The aim of this study was to measure changing pressures during Tuohy epidural needle insertions for obstetric parturients of various BMI. This has identified correlations between BMI and epidural pressure. Also we investigated links between BMI and the thicknesses and depths of ligaments and epidural space as measured from MRI and ultrasound scans. To date there have been no studies relating epidural pressure and ligament thickness changes with varying Body Mass Indices (BMI). Further goals following measurement of pressure differences between various BMI patients, were to allow a patient-specific epidural simulator to be developed, which has not been achieved before. The trial has also assessed the suitability of our in-house developed wireless pressure measurement device for use in-vivo. Previously we conducted needle insertion trial with porcine for validation of the measurement system. Results showed that for each group average pressures during insertion decrease as BMI increases. Pressure measurements obtained from the patients were matched to tissue thickness measurements from MRI and ultrasound scans. The mean Loss of Resistance (LOR) pressure in each group reduces as BMI increases. Variation in the shape of the pressure graphs was noticed between two epiduralists performing the procedure, suggesting each anaesthetist may have a signature graph shape. This is a new finding which offers potential use in epidural training and assessment. It can be seen that insertions performed by the first epiduralist have a higher pressure range than insertions performed by second epiduralist.

scholarly journals Pneumocephalus as a Cause for Headache

2002 ◽  
Vol 29 (3) ◽  
pp. 278-281 ◽  
Author(s):  
W.J. Becker
Keyword(s):  
Lumbar Puncture ◽  
Dural Puncture ◽  
Abrupt Onset ◽  
Severe Headache ◽  
Clinical Settings ◽  
Puncture Site ◽  
Loss Of Resistance ◽  
Blood Patch ◽  
Brain Ct Scan

Background:Pneumocephalus can be a cause of headache, but is easily overlooked in some clinical circumstances.Case Study:A 35-year-old woman developed severe headache of abrupt onset during an epidural blood patch procedure done for a post-lumbar puncture headache. A brain CT scan showed subarachnoid air even though there was no evidence of a dural puncture having occurred during the procedure.Results:The experience of our patient, and a review of the literature suggests that air injected into the epidural space during use of the “loss of resistance” technique can enter the subarachnoid space if a dural puncture site from a previous lumbar puncture is present.Conclusion:Pneumocephalus should be considered as a potential cause for a severe headache occurring in association with epidural procedures, and also in a number of other clinical settings. Use of a high inspired air oxygen concentration can hasten absorption of an intracranial air collection.

A needle insertion concept and robot system for breast tumor

2016 ◽  
Author(s):  
Honghua Zhao ◽  
Tao Liu ◽  
Mianpeng Chen ◽  
Qianqian Tian ◽  
Zhiping Li ◽  
...  
Keyword(s):  
Breast Tumor ◽  
Needle Insertion ◽  
Robot System
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