Research Papers: Sensing

Detecting stages of needle penetration into tissues through force estimation at needle tip using fiber Bragg grating sensors

[+] Author Affiliations
Saurabh Kumar

Indian Institute of Science, Department of Instrumentation and Applied Physics, Bangalore 560012, India

Robert Bosch Engineering and Business Solutions Pvt. Ltd., Research and Technology Center-India, 123, Industrial Layout, Hosur Road, Koramangala, Bangalore 560095, India

Venkoba Shrikanth

P.E.S. University, Department of Mechanical Engineering, Bangalore 560085, India

Bharadwaj Amrutur

Indian Institute of Science, Department of Electrical Communication Engineering, Bangalore 560012, India

Indian Institute of Science, Robert Bosch Center for Cyber Physical Systems, Bangalore 560012, India

Sundarrajan Asokan

Indian Institute of Science, Department of Instrumentation and Applied Physics, Bangalore 560012, India

Musuvathi S. Bobji

Indian Institute of Science, Department of Mechanical Engineering, Bangalore 560012, India

J. Biomed. Opt. 21(12), 127009 (Dec 30, 2016). doi:10.1117/1.JBO.21.12.127009
History: Received October 1, 2016; Accepted December 2, 2016
Text Size: A A A

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.

© 2016 Society of Photo-Optical Instrumentation Engineers

Citation

Saurabh Kumar ; Venkoba Shrikanth ; Bharadwaj Amrutur ; Sundarrajan Asokan and Musuvathi S. Bobji
"Detecting stages of needle penetration into tissues through force estimation at needle tip using fiber Bragg grating sensors", J. Biomed. Opt. 21(12), 127009 (Dec 30, 2016). ; http://dx.doi.org/10.1117/1.JBO.21.12.127009


Tables

Access This Article
Sign in or Create a personal account to Buy this article ($20 for members, $25 for non-members).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging & repositioning the boxes below.

Related Book Chapters

Topic Collections

PubMed Articles
Advertisement
  • Don't have an account?
  • Subscribe to the SPIE Digital Library
  • Create a FREE account to sign up for Digital Library content alerts and gain access to institutional subscriptions remotely.
Access This Article
Sign in or Create a personal account to Buy this article ($20 for members, $25 for non-members).
Access This Proceeding
Sign in or Create a personal account to Buy this article ($15 for members, $18 for non-members).
Access This Chapter

Access to SPIE eBooks is limited to subscribing institutions and is not available as part of a personal subscription. Print or electronic versions of individual SPIE books may be purchased via SPIE.org.