TY - JOUR
T1 - Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback
AU - Aggravi, Marco
AU - Estima, Daniel A.L.
AU - Krupa, Alexandre
AU - Misra, Sarthak
AU - Pacchierotti, Claudio
N1 - Funding Information:
Manuscript received October 15, 2020; accepted February 28, 2021. Date of publication March 24, 2021; date of current version April 14, 2021. This letter was recommended for publication by Associate Editor K. B. Reed and Editor J.-H. Ryu upon evaluation of the reviewers’ comments. This work was supported by funds from the Netherlands Organization for Scientific Research (NWO–Innovational Research Incentives Scheme VIDI: SAMURAI Project # 14855). (Marco Aggravi and Daniel A. L. Estima contributed equally to this work.) (Corresponding author: Marco Aggravi.) Marco Aggravi and Claudio Pacchierotti are with the CNRS, Univ Rennes, Inria, IRISA – Rennes, 35000 Rennes, France (e-mail: marco.aggravi@irisa.fr; claudio.pacchierotti@irisa.fr).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/3/24
Y1 - 2021/3/24
N2 - We present a haptic teleoperation system capable of steering flexible needles under ultrasound imaging toward a target. With respect to similar works, this approach enables intuitive control of the needle motion while providing the user with 3D navigation and needle tip cutting force using a combination of kinesthetic and vibrotactile haptic feedback. The needle is tracked during the insertion using a 3D ultrasound probe. A friction estimation algorithm extracts salient information about the cutting force at the needle tip from a force sensor placed at the needle base. A grounded haptic interface enables natural 6-DoF control of the needle motion while providing kinesthetic feedback, and a wearable cutaneous interface on the forearm provides distributed vibrotactile sensations. We carried out a human subject study to validate the insertion system in a gelatine phantom and compare seven different feedback techniques. The best performance was registered when providing navigation cues through kinesthetic feedback and needle tip cutting force through cutaneous vibrotactile feedback. In this modality, results showed an 87% accuracy improvement with respect to providing no haptic feedback at all.
AB - We present a haptic teleoperation system capable of steering flexible needles under ultrasound imaging toward a target. With respect to similar works, this approach enables intuitive control of the needle motion while providing the user with 3D navigation and needle tip cutting force using a combination of kinesthetic and vibrotactile haptic feedback. The needle is tracked during the insertion using a 3D ultrasound probe. A friction estimation algorithm extracts salient information about the cutting force at the needle tip from a force sensor placed at the needle base. A grounded haptic interface enables natural 6-DoF control of the needle motion while providing kinesthetic feedback, and a wearable cutaneous interface on the forearm provides distributed vibrotactile sensations. We carried out a human subject study to validate the insertion system in a gelatine phantom and compare seven different feedback techniques. The best performance was registered when providing navigation cues through kinesthetic feedback and needle tip cutting force through cutaneous vibrotactile feedback. In this modality, results showed an 87% accuracy improvement with respect to providing no haptic feedback at all.
KW - Haptics and haptic interfaces
KW - steerable catheters/needles
KW - surgical robotics
KW - 22/2 OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85103274824&partnerID=8YFLogxK
U2 - 10.1109/LRA.2021.3068635
DO - 10.1109/LRA.2021.3068635
M3 - Article
AN - SCOPUS:85103274824
VL - 6
SP - 4859
EP - 4866
JO - IEEE Robotics and automation letters
JF - IEEE Robotics and automation letters
SN - 2377-3766
IS - 3
M1 - 9385838
ER -