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Related Experiment Video

Updated: Sep 18, 2025

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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Experimental evaluation of virtual needle insertion framework with enhanced haptic feedback.

Mostafa Selim1, Lars Eisenburger2, Tom Dijkhuis2

  • 1Robotics and Mechatronics, University of Twente, Enschede, The Netherlands. m.s.selim@utwente.nl.

International Journal of Computer Assisted Radiology and Surgery
|June 24, 2025
PubMed
Summary
This summary is machine-generated.

Enhanced haptic feedback improves tumor targeting accuracy and reduces needle trajectory deviation during CT-guided procedures. This technology aids in precise tumor perception and navigation, enhancing surgical outcomes.

Keywords:
Haptic feedbackImage-guidanceNeedle steeringUser study

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Area of Science:

  • Medical Engineering
  • Surgical Technology
  • Oncology Interventions

Background:

  • Haptic feedback offers potential for improved surgical sensing and guidance.
  • CT-guided needle insertion procedures in oncology can benefit from enhanced haptic feedback.

Purpose of the Study:

  • To develop and evaluate a framework for enhanced haptic feedback during CT-guided needle insertion in oncology.
  • To assess the impact of haptic and visual feedback algorithms on needle insertion efficiency and accuracy.

Main Methods:

  • A pilot study involving 12 participants, including interventional radiologists, simulated needle insertions.
  • Physicians used visual feedback and amplified force feedback (tip and radial forces) to interact with simulated tissues and tumors.
  • Evaluated multiple haptic and visual feedback algorithms for their effect on user performance.

Main Results:

  • Enhanced force feedback for tumor perception decreased targeting error and trajectory deviation compared to natural feedback.
  • Combined enhanced tumor perception and haptic guidance further improved accuracy.
  • Real-time visual and enhanced force feedback significantly reduced task completion time, though participants preferred visual feedback.

Conclusions:

  • Enhanced haptic feedback enables successful targeting of small tumors (approx. 3mm) with improved radial and axial accuracy.
  • This technology facilitates more effective avoidance of critical structures like liver veins by maintaining trajectory accuracy.