Please use this identifier to cite or link to this item:
Publisher DOI: 10.1007/978-3-031-06249-0_34
Title: Proximity-based haptic feedback for collaborative robotic needle insertion
Language: English
Authors: Mieling, Till Robin 
Stapper, Carolin 
Gerlach, Stefan  
Neidhardt, Maximilian 
Latus, Sarah  
Gromniak, Martin 
Breitfeld, Philipp 
Schlaefer, Alexander 
Keywords: Collaboration; Epidural anesthesia; Force feedback; Human-robot interaction; Optical coherence tomography
Issue Date: May-2022
Publisher: Springer International Publishing AG
Source: Lecture Notes in Computer Science 13235 LNCS: 301-309 (2022)
Abstract (english): 
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.
Conference: 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022 
DOI: 10.15480/882.4539
ISBN: 978-3-031-06249-0
ISSN: 1611-3349
Institute: Medizintechnische und Intelligente Systeme E-1 
Document Type: Chapter/Article (Proceedings)
License: CC BY 4.0 (Attribution) CC BY 4.0 (Attribution)
Part of Series: Lecture notes in computer science 
Volume number: 13235 LNCS
Appears in Collections:Publications with fulltext

Files in This Item:
File Description SizeFormat
Mieling2022_Chapter_Proximity-BasedHapticFeedbackF.pdfVerlags-PDF1,92 MBAdobe PDFView/Open
Show full item record

Page view(s)

checked on Mar 15, 2023


checked on Mar 15, 2023

Google ScholarTM


Note about this record

Cite this record


This item is licensed under a Creative Commons License Creative Commons