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A novel manipulator with needle insertion forces feedback for robot-assisted lumbar puncture
Hongbing Li1, Yiyun Wang1, Yuling Li1
1Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China.
Summary
This study introduces a robot-assisted system to enhance precision in paediatric lumbar puncture, improving needle insertion accuracy and operator force perception for safer procedures.
Area of Science:
- Medical Robotics
- Surgical Navigation
- Paediatric Procedures
Background:
- Lumbar puncture is increasingly used in paediatric care for diagnosis and treatment.
- The conventional 'blind' technique poses challenges for accurate needle insertion.
Purpose of the Study:
- To develop a robot-assisted system for precise needle insertion during lumbar puncture.
- To evaluate the system's ability to enhance operator's perception of puncture forces.
Main Methods:
- A robot manipulator was designed for controlled needle orientation, insertion, and motion.
- The system focused on accurate sensing of puncture forces during needle advancement.
- Operator's perception of piercing forces was evaluated.
Main Results:
- The robot manipulator demonstrated accurate needle tip positioning on a lumbar puncture phantom.
- Key robotic features like backdrivable joints and low-friction actuation enhance safety.
- The system enabled accurate perception of loss of resistance and peak forces.
Conclusions:
- Robot-assisted lumbar puncture improves needle insertion accuracy.
- The developed system enhances safety and operator's tactile feedback during paediatric procedures.
