title: Detecting stages of needle penetration into tissues through force estimation at needle tip using fiber Bragg grating sensors.
abstract: Several medical procedures involve the use of needles. The advent of robotic and robot assisted procedures requires dynamic estimation of the needle tip location during insertion for use in both assistive systems as well as for automatic control. Most prior studies have focused on the maneuvering of solid flexible needles using external force measurements at the base of the needle holder. However, hollow needles are used in several procedures and measurements of forces in proximity of such needles can eliminate the need for estimating frictional forces that have high variations. These measurements are also significant for endoscopic procedures in which measurement of forces at the needle holder base is difficult. Fiber Bragg grating sensors, due to their small size, inert nature, and multiplexing capability, provide a good option for this purpose. Force measurements have been undertaken during needle insertion into tissue mimicking phantoms made of polydimethylsiloxane as well as chicken tissue using an 18-G needle instrumented with FBG sensors. The results obtained show that it is possible to estimate the different stages of needle penetration including partial rupture, which is significant for procedures in which precise estimation of needle tip position inside the organ or tissue is required.
authors.affiliation: Indian Institute of Science, Department of Instrumentation and Applied Physics, Bangalore 560012, IndiabRobert Bosch Engineering and Business Solutions Pvt. Ltd., Research and Technology Center-India, 123, Industrial Layout, Hosur Road, Koramangala, Bangalore 560095, India.
authors.forename: Saurabh
authors.initials: S
authors.lastname: Kumar
authors.affiliation: P.E.S. University, Department of Mechanical Engineering, Bangalore 560085, India.
authors.forename: Venkoba
authors.initials: V
authors.lastname: Shrikanth
authors.affiliation: Indian Institute of Science, Department of Electrical Communication Engineering, Bangalore 560012, IndiaeIndian Institute of Science, Robert Bosch Center for Cyber Physical Systems, Bangalore 560012, India.
authors.forename: Bharadwaj
authors.initials: B
authors.lastname: Amrutur
authors.affiliation: Indian Institute of Science, Department of Instrumentation and Applied Physics, Bangalore 560012, India.
authors.forename: Sundarrajan
authors.initials: S
authors.lastname: Asokan
authors.affiliation: Indian Institute of Science, Department of Mechanical Engineering, Bangalore 560012, India.
authors.forename: Musuvathi S
authors.initials: MS
authors.lastname: Bobji
mesh_terms: D000818:Animals; D002645:Chickens; D004867:Equipment Design; D008954:Models, Biological; D009132:Muscles / Q000000981:diagnostic imaging / Q000601:surgery; D009339:Needles; D061848:Optical Imaging / Q000295:instrumentation / Q000379:methods*; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures