TUHH Open Research
Help
  • Log In
    New user? Click here to register.Have you forgotten your password?
  • English
  • Deutsch
  • Communities & Collections
  • Publications
  • Research Data
  • People
  • Institutions
  • Projects
  • Statistics
  1. Home
  2. TUHH
  3. Publications
  4. Proximity-based haptic feedback for collaborative robotic needle insertion
 
Options

Proximity-based haptic feedback for collaborative robotic needle insertion

Citation Link: https://doi.org/10.15480/882.4539
Publikationstyp
Conference Paper
Date Issued
2022-05
Sprache
English
Author(s)
Mieling, Till Robin  
Stapper, Carolin  
Gerlach, Stefan  orcid-logo
Neidhardt, Maximilian  
Latus, Sarah  orcid-logo
Gromniak, Martin  
Breitfeld, Philipp  
Schlaefer, Alexander  
Institut
Medizintechnische und Intelligente Systeme E-1  
TORE-DOI
10.15480/882.4539
TORE-URI
http://hdl.handle.net/11420/13431
First published in
Lecture notes in computer science  
Number in series
13235 LNCS
Start Page
301
End Page
309
Citation
Lecture Notes in Computer Science 13235 LNCS: 301-309 (2022)
Contribution to Conference
13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022  
Publisher DOI
10.1007/978-3-031-06249-0_34
Scopus ID
2-s2.0-85131130447
Publisher
Springer International Publishing AG
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.
Subjects
Collaboration
Epidural anesthesia
Force feedback
Human-robot interaction
Optical coherence tomography
DDC Class
610: Medizin
Publication version
publishedVersion
Lizenz
https://creativecommons.org/licenses/by/4.0/
Loading...
Thumbnail Image
Name

Mieling2022_Chapter_Proximity-BasedHapticFeedbackF.pdf

Size

1.87 MB

Format

Adobe PDF

TUHH
Weiterführende Links
  • Contact
  • Send Feedback
  • Cookie settings
  • Privacy policy
  • Impress
DSpace Software

Built with DSpace-CRIS software - Extension maintained and optimized by 4Science
Design by effective webwork GmbH

  • Deutsche NationalbibliothekDeutsche Nationalbibliothek
  • ORCiD Member OrganizationORCiD Member Organization
  • DataCiteDataCite
  • Re3DataRe3Data
  • OpenDOAROpenDOAR
  • OpenAireOpenAire
  • BASE Bielefeld Academic Search EngineBASE Bielefeld Academic Search Engine
Feedback