Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle–Tissue Interaction Forces
Abstract
:1. Introduction
1.1. Related Work and Contributions
- The effect of enhancing force feedback in the axial and/or radial directions of the needle on the users’ ability to efficiently perceive needle–tissue interaction and guide the needle to the target, respectively.
- The effect of enhanced force feedback on the degree of reliance on CT scans (visual feedback) to guide the needle to the target.
- The effect of real-time visual feedback compared to enhanced real-time haptic feedback on user performance.
1.2. Scope of the Study
2. Materials and Methods
2.1. Setup and Simulation Environment
2.2. Visual Feedback Strategy
2.3. Haptic Feedback Strategy
2.3.1. Radial Force Feedback
2.3.2. Axial Force Feedback
2.3.3. Modes of Operation
2.4. Experimental Design
- Baseline (BL) scenario, compliant radial force feedback with intermittent visual CT-like scan feedback provided upon request. The axial forces were not enhanced and are similar to what the interventionalist would feel in an insertion procedure. The simulated tumor exhibited a slightly greater magnitude in terms of friction and cutting forces compared to liver tissue.
- Real-time (RT) scenario, real-time and continuous visual feedback. The participant did not need to request scans, since they were automatically displayed. Axial and radial forces were implemented exactly like the baseline scenario.
- Enhanced sensing (ES) scenario, enhanced axial forces. The axial forces were magnified when the needle made contact with the tumor. All other aspects of haptic and visual feedback were provided in the same way as the baseline scenario.
- Enhanced guidance (EG) scenario, enhanced radial forces. The radial forces were amplified throughout the entire scenario. All other aspects of haptic and visual feedback were provided in the same way as the baseline scenario.
- Enhanced sensing and guidance (ESG) scenario, enhanced axial and radial forces. The axial and radial forces were amplified (combination of EG and ES). Visual feedback was provided upon request.
3. Results
3.1. Performance Evaluation
3.2. Questionnaire Outcome
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
Abbreviations
CT | Computed tomography |
ROS | Robot Operating System |
HSD | Honestly significant difference |
DoF | Degrees of freedom |
PD | Proportional–derivative |
Appendix A
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Type | Mechanical Properties | Experimental Scenario | ||||
---|---|---|---|---|---|---|
BL | RT | ES | EG | ESG | ||
Axial: Liver Capsule | (N/m) | 100 | ||||
Axial: Liver Tissue | (Ns/m) | 5 | ||||
(N) | 0.8 | |||||
(N) | 1 | |||||
c (Ns/m) | 10 | |||||
Axial: Tumor | (N/m) | 0 | 0 | 1000 | 0 | 1000 |
(Ns/m) | 7 | 7 | 10 | 7 | 10 | |
(N) | 0.9 | 0.9 | 1.4 | 0.9 | 1.4 | |
(N) | 1.1 | 1.1 | 1.8 | 1.1 | 1.8 | |
c (Ns/m) | 10.5 | 10.5 | 15 | 10.5 | 15 | |
Radial | 100 | 100 | 100 | 1000 | 1000 | |
30 | 30 | 30 | 70 | 50 |
Scenarios | RT | ES | EG | ESG |
---|---|---|---|---|
Improved performance compared to baseline | 4.3 | 3.7 | 4.3 | 4.5 |
Easy to navigate to target | 4.5 | 3.6 | 4.2 | 4.4 |
Confidence level increase after experiment | 4.5 | 4 | 4.1 | 4.5 |
Overall score | 4.4 | 3.8 | 4.2 | 4.5 |
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Selim, M.; Dresscher, D.; Abayazid, M. Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle–Tissue Interaction Forces. Sensors 2024, 24, 5560. https://doi.org/10.3390/s24175560
Selim M, Dresscher D, Abayazid M. Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle–Tissue Interaction Forces. Sensors. 2024; 24(17):5560. https://doi.org/10.3390/s24175560
Chicago/Turabian StyleSelim, Mostafa, Douwe Dresscher, and Momen Abayazid. 2024. "Virtual Needle Insertion with Enhanced Haptic Feedback for Guidance and Needle–Tissue Interaction Forces" Sensors 24, no. 17: 5560. https://doi.org/10.3390/s24175560