Mr-compatible biopsy needle with enhanced tip force sensing

Elayaperumal, Santhi; Bae, Jung Hwa; Christensen, D.; Cutkosky, Mark R.; Daniel, Bruce L.; Black, Richard J.; Costa, Joannes M.; Faridian, F.; Moslehi, Behzad

doi:10.1109/whc.2013.6548393

Cited by 31 publications

(15 citation statements)

References 32 publications

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“…In addition to measuring chordae tendineae forces, the versatility of FBGs could easily allow for measurements of more complex structures within the heart and body. Novel applications using FBGs include providing haptic feedback of needles, catheters, and robotic arms allowing for enhanced surgical manipulation as well as for diagnostics in the case of force-sensing needles for tumor biopsy [36][37][38]. We are currently experimenting with force and shape-sensing annuloplasty rings using multicore and bundled fibers oriented at 120 deg angles.…”

Section: Discussionmentioning

confidence: 99%

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Paulsen

Bae

Imbrie-Moore

et al. 2019

Journal of Biomechanical Engineering

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Few technologies exist that can provide quantitative data on forces within the mitral valve apparatus. Marker-based strain measurements can be performed, but chordal geometry and restricted optical access are limitations. Foil-based strain sensors have been described and work well, but the sensor footprint limits the number of chordae that can be measured. We instead utilized fiber Bragg grating (FBG) sensors—optical strain gauges made of 125 μm diameter silica fibers—to overcome some limitations of previous methods of measuring chordae tendineae forces. Using FBG sensors, we created a force-sensing neochord (FSN) that mimics the natural shape and movement of native chordae. FBG sensors reflect a specific wavelength of light depending on the spatial period of gratings. When force is applied, the gratings move relative to one another, shifting the wavelength of reflected light. This shift is directly proportional to force applied. The FBG sensors were housed in a protective sheath fashioned from a 0.025 in. flat coil, and attached to the chordae using polytetrafluoroethylene suture. The function of the force-sensing neochordae was validated in a three-dimensional (3D)-printed left heart simulator, which demonstrated that FBG sensors provide highly sensitive force measurements of mitral valve chordae at a temporal resolution of 1000 Hz. As ventricular pressures increased, such as in hypertension, chordae forces also increased. Overall, FBG sensors are a viable, durable, and high-fidelity sensing technology that can be effectively used to measure mitral valve chordae forces and overcome some limitations of other such technologies.

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Section: Discussionmentioning

confidence: 99%

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Paulsen

Bae

Imbrie-Moore

et al. 2019

Journal of Biomechanical Engineering

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“…The needle’s inner stylet has three fibers, 120° apart in the needle cross-section, and slotted features at the tip to improve its sensitivity to axial loading. A description of the fabrication and design of this needle is found in [16]. …”

Section: Methodsmentioning

confidence: 99%

“…We previously described a force-sensing needle with embedded FBG sensors for applications in MRI-guided interventions [16]. Although a large advantage of FBG technology is its immunity to electro-magnetic interference, the sensors can be used for non-MRI interventions as well due to their small size and high resolution.…”

Section: Introductionmentioning

confidence: 99%

Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Elayaperumal

Bae

Daniel

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).

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“…These methods can be used to address needle buckling outside the patient tissue. To avoid buckling within tissue, several novel needle designs have been proposed to increase the critical buckling force of the needle, or reduce the insertion force on the needle during insertion into tissue [31][32][33][34][35][36]. These methods also rely on needle-tissue biomechanics properties, and thus may not be as effective for real-time avoidance control of buckling events due to uncertainties of the tissue mechanics properties or underlying internal tissue structure.…”

Section: Background and Prior Workmentioning

confidence: 99%

Data-Driven Detection of Needle Buckling Events in Robotic Needle Steering

Narayan

Choti

Fey

2019

J. Med. Robot. Res.

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In robotic needle steering, flexible asymmetric-tip needles can steer around obstacles to reach targets deep within tissue. Due to tissue inhomogeneity and needle flexibility, needle buckling can occur, preventing accurate placement. This paper focuses on detecting needle buckling using axial force and needle-tip position readings from sensors. Our algorithm uses errors between the force readings and a predictive force model generated from those readings to track rapid changes in the measured forces. Using this prediction error and needle-tip position, the algorithm detects unexpected force increase, strict needle buckling, and buckling with sliding events at the needle-tip. The metrics for the detections are derived using a standard three-sigma rule and a sigmoid function to ensure generalizability of this method to a variety of tissue types. Our algorithm was tested using insertions into a gelatin tissue with an embedded rectangular obstacle designed to elicit buckling events. Needle buckling was detected at a maximum of 2[Formula: see text]mm after collision with the obstacle. Our algorithm was tested for robustness with insertions in an ex vivo tissue under different boundary conditions. Our algorithm was also able to detect buckling events 1–2[Formula: see text]s sooner than human detection times, showing significance for future autonomous control.

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Mr-compatible biopsy needle with enhanced tip force sensing

Cited by 31 publications

References 32 publications

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Development and Ex Vivo Validation of Novel Force-Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings

Detection of membrane puncture with haptic feedback using a tip-force sensing needle

Data-Driven Detection of Needle Buckling Events in Robotic Needle Steering

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