Dieses Dokument steht unter einer CreativeCommons Lizenz https://creativecommons.org/licenses/by-nc-nd/4.0/
Verlagslink DOI: 10.1515/cdbme-2018-0150
Titel: Enhancing haptic feedback of subsurfaces during needle insertion
Sprache: English
Autor/Autorin: Antoni, Sven-Thomas 
Soltau, Stefan 
Beringhoff, Jens 
Rajput, Omer 
Otte, Christoph 
Schlaefer, Alexander 
Erscheinungsdatum: 22-Sep-2018
Verlag: De Gruyter
Quellenangabe: Current Directions in Biomedical Engineering 1 (4): 625-628 (2018-09-22)
Zeitschrift oder Schriftenreihe: Current directions in biomedical engineering 
Zusammenfassung (englisch): Haptic feedback can be helpful for accurate needle insertion but is complicated by friction on the needle shaft. Concepts to directly measure the forces at the needle tip exist but cause additional cost and complexity. Moreover, haptic devices may show inaccuracies in recreating forces. We present a novel force feedback method that uses needle shaft forces and enhances haptic feedback of subsurfaces based on robotic ultrasound elastography. This approach allows to overcome accuracy limitations of haptic devices. We evaluate our method in a volunteer subject study using recordings from a robotic needle driver setup. We compare haptic feedback based on shaft and enhanced force for the detection of surfaces inside of gelatin phantoms. Using our method, the error of subsurface detection decreased from more than 16 to about 1.7 mm for the first subsurface. A second subsurface was solely detectable using our method with an error of only 1.4 mm. Insertion time decreased by more than 32%. The results indicate that our enhanced sensor is suitable to detect subsurfaces for untrained subjects using a haptic feedback device of limited accuracy. © 2018 Sven-Thomas Antoni et al.
URI: http://hdl.handle.net/11420/2155
DOI: 10.15480/882.2102
ISSN: 2364-5504
Institut: Medizintechnische Systeme E-1 
Dokumenttyp: (wissenschaftlicher) Artikel
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