Development and experimental validation of a force sensing needle for robotically assisted retinal vein cannulations

Gijbels, Andy; Poorten, Emmanuel Vander; Stalmans, Peter; Reynaerts, Dominiek

doi:10.1109/icra.2015.7139500

Cited by 25 publications

(24 citation statements)

References 22 publications

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“…During needle insertion, many authors presented optical sensors to measure force or pressure information based on the varying intensity or phase from a light signal [ 63 , 64 , 93 , 94 , 96 , 97 ]. An optical sensor is able to acquire force with multiple DOFs and in high-intensity magnetic fields for imaging with high sensitivity, reproducibility and no hysteresis [ 136 ].…”

Section: Needle Insertion Force Measurementmentioning

confidence: 99%

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Yang

Xie

Liu

et al. 2018

Sensors

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Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

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Section: Needle Insertion Force Measurementmentioning

confidence: 99%

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Yang

Xie

Liu

et al. 2018

Sensors

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“…In this device, three FBG optic fibers are attached along the long axis of the surgical instrument [23,24]. Gijbels et al also presented a surgical instrument for eye surgery, implemented using FBG sensors [25]. Yokoyama et al presented an FBG embedded irrigated radiofrequency ablation catheter [26].…”

Section: Fiber-bragg Grating (Fbg)mentioning

confidence: 99%

Modular Optic Force Sensor for a Surgical Device Using a Fabry–Perot Interferometer

et al. 2019

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The ability to sense force in surgery is in high demand in many applications such asforce feedback in surgical robots and remote palpation (e.g., tumor detection in endoscopic surgery).In addition, recording and analyzing surgical data is of substantial value in terms of evidence-basedmedicine. However, force sensing in surgery remains challenging because of the specific requirementsof surgical instruments, namely, they must be small, bio-compatible, sterilizable, and tolerant tonoise. In this study, we propose a modular optic force sensor using a Fabry–Perot interferometer thatcan be used on surgical devices. The the proposed sensor can be implemented like a strain gauge,which is widely used in industrial applications but not compatible with surgery. The proposed sensorincludes two key elements, a fiber-optic pressure sensor using a Fabry–Perot interferometer thatwas previously developed by one of the authors and a structure that includes a carbide pin thatcontacts the pressure sensor along the long axis. These two elements are fixed in a guide channelfabricated in a 3 × 2 × 0.5 mm sensor housing. The experimental results are promising, revealinga linear relationship between the output and the applied load while showing a linear temperaturecharacteristic that suggests temperature compensation will be needed in use.

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“…To distinguish a venous puncture from retraction events, a threshold value (P) needs to be specified such that only a sufficiently sharp drop in force (

) will be reported as a venous puncture. Identifying a proper threshold though requires careful tuning [ 24 ] and may differ depending on the local mechanistic properties of the inhomogeneous retinal tissue as well as the operator’s skill level. On the contrary, keeping track of both the force and position of the tool tip can give a more generalized and reliable prediction of the venous puncture without having to worry about the force derivative threshold.…”

Section: System Operationmentioning

confidence: 99%

“…Flexible prebent stainless steel microneedles, which are normally held straight inside a protective shaft to be more easily introduced into the eye, have been developed. When deployed, these microneedles assume the optimum angle as they approach the retinal surface [ 24 , 25 ].…”

Section: Introductionmentioning

confidence: 99%

“…Following a similar approach, we developed a force-sensing microneedle with a thin (Ø 70 µm) bent (45°) tip, which is held straight in a protective shaft while inserting through the sclera and deployed out by means of a motorized unit upon reaching the retina surface [ 25 ]. Researchers from University of Leuven developed an alternative force-sensing needle also with a thin (Ø 80 µm) and bent (45°) tip independently from our previous work [ 24 ].…”

Section: Introductionmentioning

confidence: 99%

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Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator †

Gonenc

Chae

Gehlbach

et al. 2017

Sensors

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Retinal vein cannulation is a technically demanding surgical procedure where therapeutic agents are injected into the retinal veins to treat occlusions. The clinical feasibility of this approach has been largely limited by the technical challenges associated with performing the procedure. Among the challenges to successful vein cannulation are identifying the moment of venous puncture, achieving cannulation of the micro-vessel, and maintaining cannulation throughout drug delivery. Recent advances in medical robotics and sensing of tool-tissue interaction forces have the potential to address each of these challenges as well as to prevent tissue trauma, minimize complications, diminish surgeon effort, and ultimately promote successful retinal vein cannulation. In this paper, we develop an assistive system combining a handheld micromanipulator, called “Micron”, with a force-sensing microneedle. Using this system, we examine two distinct methods of precisely detecting the instant of venous puncture. This is based on measured tool-tissue interaction forces and also the tracked position of the needle tip. In addition to the existing tremor canceling function of Micron, a new control method is implemented to actively compensate unintended movements of the operator, and to keep the cannulation device securely inside the vein following cannulation. To demonstrate the capabilities and performance of our uniquely upgraded system, we present a multi-user artificial phantom study with subjects from three different surgical skill levels. Results show that our puncture detection algorithm, when combined with the active positive holding feature enables sustained cannulation which is most evident in smaller veins. Notable is that the active holding function significantly attenuates tool motion in the vein, thereby reduces the trauma during cannulation.

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Development and experimental validation of a force sensing needle for robotically assisted retinal vein cannulations

Cited by 25 publications

References 22 publications

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Modular Optic Force Sensor for a Surgical Device Using a Fabry–Perot Interferometer

Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator †

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