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Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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Integrating Cadaver Needle Forces Into a Haptic Robotic Simulator.

David F Pepley1, Mary A Yovanoff2, Katelin A Mirkin3

  • 1Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802.

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|January 16, 2018
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Summary
This summary is machine-generated.

A novel force-sensing syringe accurately measured needle insertion forces in cadavers. This data improved a haptic simulator for central venous catheterization (CVC) training, enhancing surgical skill acquisition.

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Area of Science:

  • Medical simulation
  • Surgical robotics
  • Haptic technology

Background:

  • Accurate force simulation is critical for effective haptic simulators used in surgical training.
  • Tissue inhomogeneity presents significant challenges in simulating realistic needle insertion forces.
  • Developing advanced haptic simulators requires precise measurement of needle-tissue interaction forces.

Purpose of the Study:

  • To develop a handheld force-sensing syringe for measuring needle insertion forces.
  • To implement these force measurements into a haptic simulator for central venous catheterization (CVC) training.
  • To evaluate the simulator's effectiveness in teaching haptic skills to surgical trainees.

Main Methods:

  • A handheld force-sensing syringe was designed and utilized to record needle insertion forces and motion.
  • Five needle insertions were conducted into a cadaver neck to gather empirical data.
  • A piecewise exponential needle force characterization was derived and integrated into a haptic CVC simulator.
  • The simulator's performance was assessed via surveys completed by expert surgeons, fellows, and residents.

Main Results:

  • Maximum needle insertion forces measured ranged from 1.20 N to 2.02 N.
  • Four distinct force characterizations were developed, representing different patient anatomies (average, muscular, obese, thin).
  • Survey results indicated statistical agreement that the simulator heightened awareness of anatomy's impact on needle insertion forces.

Conclusions:

  • The force-sensing syringe effectively captured crucial force and position data for needle insertions.
  • The gathered data successfully enhanced a haptic simulator for CVC procedures, demonstrating its practical utility.
  • Surgical trainees and experts reported a positive perception of the haptic simulator's capability in developing essential haptic skills.