Miniaturized rigid probe driver with haptic loop control for neurosurgical interventions

Lorenzo, Danilo De; Manganelli, Rudy; Dyagilev, Ilya; Formaglio, Alessandro; Momi, Elena De; Prattichizzo, Domenico; Shoham, Moshe; Ferrigno, Giancarlo

doi:10.1109/biorob.2010.5627800

Cited by 9 publications

(11 citation statements)

References 23 publications

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“…It is rigidly connected to the GP via a quick release interlock; • the Linear Actuator, LA; 1-DoF piezo-actuator, which makes the biopsy linear probe advance through a teleoperated haptic interface (Omega, Force Dimension, Switzerland) [14]. The LA is attached to the FP end effector (EE) upper plate.…”

Section: A the Robotic Systemmentioning

confidence: 99%

Optically tracked multi-robot system for keyhole neurosurgery

Comparetti

Momi

Vaccarella

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-Robotic systems have been introduced in surgery to increase the intervention accuracy. In this framework, the ROBOCAST system is an optically controlled multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system is composed by three robots, connected as a multiple kinematic chain (serial, parallel and linear) totaling 13 degrees of freedom (DoFs) and is it is used to automatically align the probe onto the desired trajectory.This paper presents an iterative approach for aligning the surgical probe with the planned target pose, reducing both the translation and the rotation errors. An experimental protocol was designed, in order to assess the system performances in terms of residual targeting errors and convergence ratio.The proposed targeting procedures allows obtaining (0.06 ± 0.02) mm and (0.8 ± 0.2) × 10 −3 rad as residual median errors, thus satisfying the operational requirements (1 mm). The performances proved to be independent upon the robots calibration accuracy.

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Section: A the Robotic Systemmentioning

confidence: 99%

Optically tracked multi-robot system for keyhole neurosurgery

Comparetti

Momi

Vaccarella

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…The brain phantom we used in this work was already proposed in literature [35,37], and the neurosurgeons who participated at our acquisition agreed that its texture was similar to the one of in vivo brain tissue. In this regards, Gefen et al [40] showed that the mechanical characteristics of brain tissue were statistically indistinguishable in vivo and in vitro.…”

Section: Discussionmentioning

confidence: 99%

“…We replicated the human brain tissue mechanical proprieties with a mixture of gelatin and water, similarly to [35,36,37]. In particular, we used 7% gelatin, shaping the resulting mixture as a solid uniform block.…”

Section: Human Brain Phantommentioning

confidence: 99%

Hand–tool–tissue interaction forces in neurosurgery for haptic rendering

Aggravi

Momi

DiMeco³

et al. 2015

Med Biol Eng Comput

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Abstract:Haptics provides sensory stimuli that represent the interaction with a virtual or telemanipulated object, and it is considered a valuable navigation and manipulation tool during tele-operated surgical procedures. Haptic feedback can be provided to the user via cutaneous information and kinesthetic feedback. Sensory subtraction removes the kinesthetic component of the haptic feedback, having only the cutaneous component provided to the user. Such a technique guarantees a stable haptic feedback loop, while it keeps the transparency of the tele-operation system high, which means that the system faithfully replicates and render back the user's directives. This work focuses on checking whether the interaction forces during a bench model neurosurgery operation can lie in the solely cutaneous perception of the human finger pads. If this assumption is found true, it would be possible to exploit sensory subtraction techniques for providing surgeons with feedback from neurosurgery. We measured the forces exerted to surgical tools by three neurosurgeons performing typical actions on a brain phantom, using contact force sensors, whilst the forces exerted by the tools to the phantom tissue were recorded using a load cell placed under the brain phantom box. The measured surgeon-tool contact forces were 0.01 -3.49 N for the thumb and 0.01 -6.6 N for index and middle finger, whereas the measured tool-tissue interaction forces were from six to eleven times smaller than the contact forces, i.e., 0.01 -0.59 N. The measurements for the contact forces fit the range of the cutaneous sensitivity for the Powered by Edit orial Manager® and ProduXion Manager® from Aries Syst em s Corporat ionhuman finger pad, thus, we can say that, in a tele-operated robotic neurosurgery scenario, it would possible to render forces at the fingertip level by conveying haptic cues solely through the cutaneous channel of the surgeon's finger pads. This approach would allow high transparency and high stability of the haptic feedback loop in a teleoperation systemResponse to Reviewers: REVIEWER 1 Comment no. 1: The methodology of the submitted work is good and, since it is a bench model, it might allow to replace other similar systems presented in previous works. However, the authors should make an extra effort to increase the clarity of the text. The added section 2 is a good help to put the work in context. However, section 1 appears as too long and lacks focus. I would recommend to severely shorten section 1 and merge it with section 2. Our answer:We thank the reviewer for the positive opinion on our work. To improve the clarity of the introductory part, we have removed an example of sensory substitution reference and an example of sensory subtraction application reference. Moreover, we have merged Section 2 Related Works with Section 1 Introduction, which now comprises the related works as a subsection.Comment no. 2: Also section 5 could be reorganized to strengthen the papers conclusion. Our answer:We have modified Section 4 Discussion as follow...

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“…The use of force sensors has been recently investigated in order to provide haptic feedback to tele-operated surgical robots; surgical tools have been endowed with strain gauges [6], [7] or optical, fiber-based force sensors in order to measure small interaction forces in the range of 2.5 N with a resolution of 0.04 N [8].…”

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confidence: 99%

“…They have recently been proposed in robotic surgery, in addition to an optical tracking system, to overcome the limitation of localization systems. In [5] Kalman-based sensor data, fusion has been proposed for a robot-controlled algorithm for motion compensation of the patient.The use of force sensors has been recently investigated in order to provide haptic feedback to tele-operated surgical robots; surgical tools have been endowed with strain gauges [6], [7] or optical, fiber-based force sensors in order to measure small interaction forces in the range of 2.5 N with a resolution of 0.04 N [8].Intra-operative imaging devices, which include Magnetic Resonance Imaging (MRI), Computed Tomography (CT), Fluoroscopy, and Ultrasonography (US), are used to update preoperative images and thus improve the accuracy of navigation systems; this is of the utmost importance when dealing with soft tissues. In neurosurgery, even a small aperture in the skull (mini-invasive procedure also known as keyhole neurosurgery) results in an intra-operative brain deformation that is known as brain shift (mainly due to cerebrospinal-fluid drainage).…”

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confidence: 99%

Sensors management in robotic neurosurgery: The ROBOCAST project

Vaccarella

Comparetti

Enquobahrie

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Abstract-Robot and computer-aided surgery platforms bring a variety of sensors into the operating room. These sensors generate information to be synchronized and merged for improving the accuracy and the safety of the surgical procedure for both patients and operators. In this paper, we present our work on the development of a sensor management architecture that is used is to gather and fuse data from localization systems, such as optical and electromagnetic trackers and ultrasound imaging devices. The architecture follows a modular client-server approach and was implemented within the EU-funded project ROBOCAST (FP7 ICT 215190). Furthermore it is based on very well-maintained open-source libraries such as OpenCV and Image-Guided Surgery Toolkit (IGSTK), which are supported from a worldwide community of developers and allow a significant reduction of software costs.We conducted experiments to evaluate the performance of the sensor manager module. We computed the response time needed for a client to receive tracking data or video images, and the time lag between synchronous acquisition with an optical tracker and ultrasound machine.Results showed a median delay of 1.9 ms for a client request of tracking data and about 40 ms for US images; these values are compatible with the data generation rate (20-30 Hz for tracking system and 25 fps for PAL video).Simultaneous acquisitions have been performed with an optical tracking system and US imaging device: data was aligned according to the timestamp associated with each sample and the delay was estimated with a cross-correlation study. A median value of 230 ms delay was calculated showing that realtime 3D reconstruction is not feasible (an offline temporal calibration is needed), although a slow exploration is possible. In conclusion, as far as asleep patient neurosurgery is concerned, the proposed setup is indeed useful for registration error correction because the brain shift occurs with a time constant of few tens of minutes. A. Enquobahrie is with Kitware Inc., Carrboro, NC, USA Thus, the need for different sensors in the operating room (OR) has highly increased in the past two decades with the purpose of improving the accuracy and the safety of surgical procedures for both patients and operators. The main typologies of sensors used in the OR include localization systems, inertial sensors, force sensors, and intra-operative imaging devices. Surgical navigation systems usually rely on information acquired using localization systems (mechanical, optical, or electromagnetic) in order to localize the pose of surgical instruments and to overlay them on the CT or MR images to assist surgeons during procedures [4].Inertial Measurement Unit (IMU) allows for determination of an object's position and orientation at a high rate, even with no line of sight; on the other hand, IMUs are limited by noise amplification and drift, due to the double integration of the acceleration signal. They have recently been proposed in robotic surgery, in addition to an optical tracking system, ...

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Miniaturized rigid probe driver with haptic loop control for neurosurgical interventions

Cited by 9 publications

References 23 publications

Optically tracked multi-robot system for keyhole neurosurgery

Optically tracked multi-robot system for keyhole neurosurgery

Hand–tool–tissue interaction forces in neurosurgery for haptic rendering

Sensors management in robotic neurosurgery: The ROBOCAST project

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