Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.

Area of Science:

• Biomedical Engineering
• Surgical Robotics
• Sensor Technology

Background:

• Accurate force sensing is critical for minimally invasive surgery.
• Existing methods for needle-based force feedback have limitations.
• Haptic feedback enhances surgeon's tactile perception during procedures.

Purpose of the Study:

• To calibrate and evaluate a novel 3-D tip-force sensing needle with haptic feedback.
• To assess the efficacy of fiber Bragg grating (FBG) sensors for real-time force detection.
• To compare user performance with tip-force feedback versus base feedback or no feedback.

Main Methods:

• A modified MRI-compatible biopsy needle integrated with FBG sensors was developed.
• The needle was calibrated and interrogated at 2 kHz for dynamic force display.
• A master/slave system with a voice coil haptic actuator was used for needle insertion tests.
• Tissue phantoms with embedded membranes were used to evaluate feedback accuracy.

Main Results:

• Subjects demonstrated significantly higher accuracy in detecting embedded membrane positions using FBG tip feedback.
• FBG tip feedback outperformed both commercial base feedback sensors (p=0.045) and no haptic feedback (p=0.0024).
• The system provided real-time haptic feedback during needle insertion.

Conclusions:

• The 3-D tip-force sensing needle with FBG technology offers superior haptic feedback for improved surgical accuracy.
• This technology has the potential to enhance surgeon's ability to navigate and interact with tissue during procedures.
• Real-time tip-force sensing and haptic feedback are crucial for advancing robotic surgery and improving patient outcomes.