Rupture Detection During Needle Insertion Using Complex OCT Data and CNNs

Latus, Sarah; Sprenger, Johanna; Neidhardt, Maximilian; Schädler, Julia; Ron, Alexandra; Fitzek, Antonia; Schlüter, Matthias; Breitfeld, Philipp; Heinemann, Axel; Püschel, Klaus; Schlaefer, Alexander

doi:10.1109/tbme.2021.3063069

Cited by 5 publications

(2 citation statements)

References 34 publications

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“…5 For example, OCT probes have been used to study soft tissue characteristics by means of the morphology 6 or instrument interaction. 7 To enable robustness and miniaturization, OCT probes are often equipped with simple optics that generate A-scans, i.e., single-column depth images. A sequence of A-scans can be considered as M-scan.…”

Section: Introductionmentioning

confidence: 99%

Motion-compensated OCT imaging of laryngeal tissue

Latus,

Kulas,

Sprenger

et al. 2024

Medical Imaging 2024: Image-Guided Procedures, Robotic Interventions, and Modeling

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The increasing incidence of laryngeal carcinomas requires approaches for early diagnosis and treatment. In clinical practice, white light endoscopy of the laryngeal region is typically followed by biopsy under general anesthesia. Thus, image based diagnosis using optical coherence tomography (OCT) has been proposed to study sub-surface tissue layers at high resolution. However, accessing the region of interest requires robust miniature OCT probes that can be forwarded through the working channel of a laryngoscope. Typically, such probes generate A-scans, i.e., single column depth images, which are rather difficult to in terpret. We pr opose a novel ap proach us ing the endoscopic camera images to spatially align these A-scans. Given the natural tissue motion and movements of the laryngoscope, the resulting OCT images show a three-dimensional representation of the sub-surface structures, which is simpler to interpret. We present the overall imaging setup and the motion tracking method. Moreover, we describe an experimental setup to assess the precision of the spatial alignment. We study different tracking templates and report root-mean-squared errors of 0.08 mm and 0.18 mm for sinusoidal and freehand motion, respectively. Furthermore, we also demonstrate the in-vivo application of the approach, illustrating the benefit of spatially meaningful alignment of the A-scans to study laryngeal tissue.

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Section: Introductionmentioning

confidence: 99%

Motion-compensated OCT imaging of laryngeal tissue

Latus,

Kulas,

Sprenger

et al. 2024

Medical Imaging 2024: Image-Guided Procedures, Robotic Interventions, and Modeling

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“…Instead, we propose a method that can detect structures before physical contact occurs. We have recently shown that an optical coherence tomography (OCT) fiber embedded into an epidural needle can enable the detection of rupture events during needle insertions [10]. We now employ high resolution OCT needles to measure the distance to structures.…”

Section: Introductionmentioning

confidence: 99%

Proximity-Based Haptic Feedback for Collaborative Robotic Needle Insertion

Mieling

Stapper

Gerlach

et al. 2022

Haptics: Science, Technology, Applications

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Collaborative robotic needle insertions have the potential to improve placement accuracy and safety, e.g., during epidural anesthesia. Epidural anesthesia provides effective regional pain management but can lead to serious complications, such as nerve injury or cerebrospinal fluid leakage. Robotic assistance might prevent inadvertent puncture by providing haptic feedback to the physician. Haptic feedback can be realized on the basis of force measurements at the needle. However, contact should be avoided for delicate structures. We propose a proximity-based method to provide feedback prior to contact. We measure the distance to boundary layers, visualize the proximity for the operator and further feedback it as a haptic resistance. We compare our approach to haptic feedback based on needle forces and visual feedback without haptics. Participants are asked to realize needle insertions with each of the three feedback modes. We use phantoms that mimic the structures punctured during epidural anesthesia. We show that visual feedback improves needle placement, but only proximity-based haptic feedback reduces accidental puncture. The puncture rate is 62% for force-based haptic feedback, 60% for visual feedback and 6% for proximity-based haptic feedback. Final needle placement inside the epidural space is achieved in 38%, 70% and 96% for force-based haptic, visual and proximity-based haptic feedback, respectively. Our results suggest that proximity-based haptic feedback could improve needle placement safety in the context of epidural anesthesia.

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A temperature-compensated force sensor based on a cascaded FPI for needle force sensing

Wei

Jiang

2022

Measurement

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Rupture Detection During Needle Insertion Using Complex OCT Data and CNNs

Cited by 5 publications

References 34 publications

Motion-compensated OCT imaging of laryngeal tissue

Motion-compensated OCT imaging of laryngeal tissue

Proximity-Based Haptic Feedback for Collaborative Robotic Needle Insertion

A temperature-compensated force sensor based on a cascaded FPI for needle force sensing

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