Development of haptic simulator for practicing the intraarticular needle injection under echography

Abstract

Intraarticular needle injection under ultrasound guidance is the most used method to provide pain relief in joints. To learn this process, medical students need to practice in order to master the manipulation of the syringe and the ultrasound probe at the same time. To offer a risk-free training for trainees, we present in this paper the development and design of a haptic simulator prototype. The models and methods used to render the forces involved are introduced, as well as the mechanical design and finally a validation test performed by our medical partner. Clinical relevance-This simulator helps medical students to train intraarticular needle injection under ultrasound guidance using a haptic device to provide realism and immersion.

Review on Needle Insertion Haptic Simulation

“…Figure 6 describes these phases and the total axial force pattern due to the penetration of the needle. These models have still been used in recent works such as [7,11,13,13,14,[24][25][26][27][28][29][30][31][32][33][34]. Recently, works focused on the ability to render multiple layers of tissues, using piece-wise exponential models [13] or nested boxes [25] rendering each one its stiffness and cutting forces according to [35].…”

“…To improve rendering of cutting forces, Daniel et al proposed the "tracking wall" algorithm as an enhancement of traditional proxy-based algorithms [24]. It allows rendering constant cutting force without chatter and capture small rejections forces occurring when the needle stops inside tissues as stated by [36].…”

“…Several authors thus preferred to rely on literature or the experience of expert surgeons to evaluate the accuracy of force feedback through iterative try-and-test experiments. [24][25][26] Tissue phantoms can also be used to test behaviors of needle insertion in various conditions and verify models in early stages but were not used to identify parameters. [1,50] Efforts are still made to propose measurement schemes to acquire reliable force-displacement data to help in the design of needle insertion haptic simulators.…”