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Ray-casting based evaluation framework for haptic force feedback during percutaneous transhepatic catheter drainage

Andre Mastmeyer1, Tobias Hecht, Dirk Fortmeier

  • 1Institute of Medical Informatics, University of Lübeck, Lübeck, Germany, mastmeyer@imi.uni-luebeck.de.

International Journal of Computer Assisted Radiology and Surgery
|November 28, 2013
PubMed
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A new evaluation framework for needle insertion force feedback was developed and tested. This method accurately assesses percutaneous transhepatic catheter drainage (PTCD) trajectories, improving algorithm development.

Area of Science:

  • Medical engineering
  • Minimally invasive interventions
  • Haptic feedback systems

Background:

  • Needle insertion is crucial for minimally invasive liver procedures.
  • Current planning relies on 2D CT slices, often requiring extensive manual segmentation for 3D visualization.
  • Developing accurate haptic feedback requires robust evaluation methods.

Purpose of the Study:

  • To develop and validate a novel evaluation framework for needle insertion force feedback algorithms.
  • To assess the framework's utility in percutaneous transhepatic catheter drainage (PTCD) procedures.
  • To compare haptic force output with a reference system for algorithm refinement.

Main Methods:

  • Proposed a direct haptic volume-rendering approach using CT gray values and partial segmentation.

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  • Developed a ray-casting technique to compute optimal needle insertion trajectories from skin to target ducts.
  • Implemented a rating system for trajectories and compared force outputs between a reference and a new algorithm.

    • Main Results:

    • Presented an evaluation framework validated on liver atlas data.
    • Demonstrated high similarity (99%) in force outputs between the reference method and the newer algorithm across assessed paths.
    • Quantified and visualized force output comparisons along selected trajectories.

    Conclusions:

    • The developed framework reliably identifies problematic PTCD trajectories.
    • Provides valuable insights for enhancing the development of haptic force feedback algorithms.
    • Supports the creation of more accurate virtual reality and haptic training environments.