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MRI-compatible and sensorless haptic feedback for cable-driven medical robotics to perform teleoperated needle-based interventions

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Název: MRI-compatible and sensorless haptic feedback for cable-driven medical robotics to perform teleoperated needle-based interventions
Autoři: Ivan Vogt, Marcel Eisenmann, Anton Schlünz, Robert Kowal, Daniel Düx, Maximilian Thormann, Julian Glandorf, Seben Sena Yerdelen, Marilena Georgiades, Robert Odenbach, Bennet Hensen, Marcel Gutberlet, Frank Wacker, Frank Fischbach, Georg Rose
Zdroj: Int J Comput Assist Radiol Surg
Informace o vydavateli: Springer Science and Business Media LLC, 2024.
Rok vydání: 2024
Témata: Teleoperation, Humans [MeSH], Haptic feedback, Sensorless force measurement, Telemedicine/instrumentation [MeSH], Needles [MeSH], Original Article, μRIGS, Feedback [MeSH], Image-guided interventions, Phantoms, Imaging [MeSH], Equipment Design [MeSH], Magnetic Resonance Imaging, Interventional/instrumentation [MeSH], Robotics/instrumentation [MeSH], Magnetic Resonance Imaging/methods [MeSH], Robotic Surgical Procedures/methods [MeSH], Surgical robotics, Robotic Surgical Procedures/instrumentation [MeSH]
Popis: Purpose Surgical robotics have demonstrated their significance in assisting physicians during minimally invasive surgery. Especially, the integration of haptic and tactile feedback technologies can enhance the surgeon’s performance and overall patient outcomes. However, the current state-of-the-art lacks such interaction feedback opportunities, especially in robotic-assisted interventional magnetic resonance imaging (iMRI), which is gaining importance in clinical practice, specifically for percutaneous needle punctures. Methods The cable-driven ‘Micropositioning Robotics for Image-Guided Surgery’ (µRIGS) system utilized the back-electromotive force effect of the stepper motor load to measure cable tensile forces without external sensors, employing the TMC5160 motor driver. The aim was to generate a sensorless haptic feedback (SHF) for remote needle advancement, incorporating collision detection and homing capabilities for internal automation processes. Three different phantoms capable of mimicking soft tissue were used to evaluate the difference in force feedback between manual needle puncture and the SHF, both technically and in terms of user experience. Results The SHF achieved a sampling rate of 800 Hz and a mean force resolution of 0.26 ± 0.22 N, primarily dependent on motor current and rotation speed, with a mean maximum force of 15 N. In most cases, the SHF data aligned with the intended phantom-related force progression. The evaluation of the user study demonstrated no significant differences between the SHF technology and manual puncturing. Conclusion The presented SHF of the µRIGS system introduced a novel MR-compatible technique to bridge the gap between medical robotics and interaction during real-time needle-based interventions.
Druh dokumentu: Article
Other literature type
Jazyk: English
ISSN: 1861-6429
DOI: 10.1007/s11548-024-03267-z
Přístupová URL adresa: https://pubmed.ncbi.nlm.nih.gov/39264411
https://repository.publisso.de/resource/frl:6501236
Rights: CC BY
Přístupové číslo: edsair.doi.dedup.....8a1ee2584b6f7186c419e87ec794bb42
Databáze: OpenAIRE
Popis
Abstrakt:Purpose Surgical robotics have demonstrated their significance in assisting physicians during minimally invasive surgery. Especially, the integration of haptic and tactile feedback technologies can enhance the surgeon’s performance and overall patient outcomes. However, the current state-of-the-art lacks such interaction feedback opportunities, especially in robotic-assisted interventional magnetic resonance imaging (iMRI), which is gaining importance in clinical practice, specifically for percutaneous needle punctures. Methods The cable-driven ‘Micropositioning Robotics for Image-Guided Surgery’ (µRIGS) system utilized the back-electromotive force effect of the stepper motor load to measure cable tensile forces without external sensors, employing the TMC5160 motor driver. The aim was to generate a sensorless haptic feedback (SHF) for remote needle advancement, incorporating collision detection and homing capabilities for internal automation processes. Three different phantoms capable of mimicking soft tissue were used to evaluate the difference in force feedback between manual needle puncture and the SHF, both technically and in terms of user experience. Results The SHF achieved a sampling rate of 800 Hz and a mean force resolution of 0.26 ± 0.22 N, primarily dependent on motor current and rotation speed, with a mean maximum force of 15 N. In most cases, the SHF data aligned with the intended phantom-related force progression. The evaluation of the user study demonstrated no significant differences between the SHF technology and manual puncturing. Conclusion The presented SHF of the µRIGS system introduced a novel MR-compatible technique to bridge the gap between medical robotics and interaction during real-time needle-based interventions.
ISSN:18616429
DOI:10.1007/s11548-024-03267-z