TY - JOUR
T1 - Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation
T2 - In-Vivo Study
AU - Alamdar, Alireza
AU - Patel, Niravkumar
AU - Urias, Muller
AU - Ebrahimi, Ali
AU - Gehlbach, Peter
AU - Iordachita, Iulian
N1 - Funding Information:
Manuscript received February 24, 2021; revised August 1, 2021; accepted September 18, 2021. Date of publication September 22, 2021; date of current version February 21, 2022. This work was supported by the U.S. National Institutes of Health under Grants 1R01 EB023943, 1R01 EB025883, and 2R01 EB000526. The work of M. Urias was also supported by Instituto da Visao (IPEPO) ãnd Lemann Foundation. The work of PLG was supported in part by Research to Prevent Blindness, New York, USA, and gifts by the J. Willard and Alice S. Marriott Foundation, the Gale Trust, Mr. Herb Ehlers, Mr. Bill Wilbur, Mr. and Mrs. Rajandre Shaw, Ms. Helen Nassif, Ms. Mary Ellen Keck, and Mr. Ronald Stiff. (Corresponding author: Alireza Alamdar.) Alireza Alamdar is with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218 USA (e-mail: aalamda3@jhu.edu).
Publisher Copyright:
© 1964-2012 IEEE.
PY - 2022/3/1
Y1 - 2022/3/1
N2 - Objective: Retinal vein cannulation is a technically demanding surgical procedure and its feasibility may rely on using advanced surgical robots equipped with force-sensing microneedles. Reliable detection of the moment of venous puncture is important, to either alert or prevent the clinician from double puncturing the vessel and damaging the retinal surface beneath. This paper reports the first in-vivo retinal vein cannulation trial on rabbit eyes, using sensorized metal needles, and investigates puncture detection. Methods: We utilized total of four indices including two previously demonstrated ones and two new indices, based on the velocity and force of the needle tip and the correlation between the needle-tissue and tool-sclera interaction forces. We also studied the effect of detection timespan on the performance of detecting actual punctures. Results: The new indices, when used in conjunction with the previous algorithm, improved the detection rate form 75% to 92%, but slightly increased the number of false detections from 37 to 43. Increasing the detection window improved the detection performance, at the cost of adding to the delay. Conclusion: The current algorithm can supplement the surgeons' visual feedback and surgical judgment. To achieve automatic puncture detection, more measurements and further analysis are required. Subsequent in-vivo studies in other animals, such as pigs with their more human like eye anatomy, are required, before clinical trials. Significance: The study provides promising results and the criteria developed may serve as guidelines for further investigation into puncture detection in in-vivo retinal vein cannulation.
AB - Objective: Retinal vein cannulation is a technically demanding surgical procedure and its feasibility may rely on using advanced surgical robots equipped with force-sensing microneedles. Reliable detection of the moment of venous puncture is important, to either alert or prevent the clinician from double puncturing the vessel and damaging the retinal surface beneath. This paper reports the first in-vivo retinal vein cannulation trial on rabbit eyes, using sensorized metal needles, and investigates puncture detection. Methods: We utilized total of four indices including two previously demonstrated ones and two new indices, based on the velocity and force of the needle tip and the correlation between the needle-tissue and tool-sclera interaction forces. We also studied the effect of detection timespan on the performance of detecting actual punctures. Results: The new indices, when used in conjunction with the previous algorithm, improved the detection rate form 75% to 92%, but slightly increased the number of false detections from 37 to 43. Increasing the detection window improved the detection performance, at the cost of adding to the delay. Conclusion: The current algorithm can supplement the surgeons' visual feedback and surgical judgment. To achieve automatic puncture detection, more measurements and further analysis are required. Subsequent in-vivo studies in other animals, such as pigs with their more human like eye anatomy, are required, before clinical trials. Significance: The study provides promising results and the criteria developed may serve as guidelines for further investigation into puncture detection in in-vivo retinal vein cannulation.
KW - Force sensing tool
KW - retinal vein cannulation
KW - robot-assisted surgery
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U2 - 10.1109/TBME.2021.3114638
DO - 10.1109/TBME.2021.3114638
M3 - Article
C2 - 34550878
AN - SCOPUS:85115706594
VL - 69
SP - 1123
EP - 1132
JO - IRE transactions on medical electronics
JF - IRE transactions on medical electronics
SN - 0018-9294
IS - 3
ER -