Publisher DOI: 10.1515/cdbme-2018-0150
Title: Enhancing haptic feedback of subsurfaces during needle insertion
Language: English
Authors: Antoni, Sven-Thomas 
Soltau, Stefan 
Beringhoff, Jens 
Rajput, Omer 
Otte, Christoph 
Schlaefer, Alexander 
Issue Date: 1-Sep-2018
Source: Current Directions in Biomedical Engineering 1 (4): 625-628 (2018-09-01)
Journal or Series Name: Current directions in biomedical engineering 
Abstract (english): 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.
ISSN: 2364-5504
Type: (wissenschaftlicher) Artikel
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