TY - GEN
T1 - Robot-assisted retinal vein cannulation with force-based puncture detection
T2 - 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
AU - Gonenc, Berk
AU - Tran, Nhat
AU - Gehlbach, Peter
AU - Taylor, Russell H.
AU - Iordachita, Iulian
N1 - Funding Information:
Research supported in part by the National Institutes of Health under R01 EB000526, and in part by Johns Hopkins University internal funds as Research to Prevent Blindness, The J. Willard and Alice S. Marriott Foundation, The Gale Trust and Mr. Bill Wilbur.
Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/13
Y1 - 2016/10/13
N2 - Retinal vein cannulation is a demanding procedure where therapeutic agents are injected into occluded retina veins. The feasibility of this treatment is limited due to challenges in identifying the moment of venous puncture, achieving cannulation and maintaining it throughout the drug delivery period. In this study, we integrate a force-sensing microneedle with two distinct robotic systems: the handheld micromanipulator Micron, and the cooperatively controlled Steady-Hand Eye Robot (SHER). The sensed tool-to-tissue interaction forces are used to detect venous puncture and extend the robots' standard control schemes with a new position holding mode (PHM) that assists the operator hold the needle position fixed and maintain cannulation for a longer time with less trauma on the vasculature. We evaluate the resulting systems comparatively in a dry phantom, stretched vinyl membranes. Results have shown that modulating the admittance control gain of SHER alone is not a very effective solution for preventing the undesired tool motion after puncture. However, after using puncture detection and PHM the deviation from the puncture point is significantly reduced, by 65% with Micron, and by 95% with SHER representing a potential advantage over freehand for both.
AB - Retinal vein cannulation is a demanding procedure where therapeutic agents are injected into occluded retina veins. The feasibility of this treatment is limited due to challenges in identifying the moment of venous puncture, achieving cannulation and maintaining it throughout the drug delivery period. In this study, we integrate a force-sensing microneedle with two distinct robotic systems: the handheld micromanipulator Micron, and the cooperatively controlled Steady-Hand Eye Robot (SHER). The sensed tool-to-tissue interaction forces are used to detect venous puncture and extend the robots' standard control schemes with a new position holding mode (PHM) that assists the operator hold the needle position fixed and maintain cannulation for a longer time with less trauma on the vasculature. We evaluate the resulting systems comparatively in a dry phantom, stretched vinyl membranes. Results have shown that modulating the admittance control gain of SHER alone is not a very effective solution for preventing the undesired tool motion after puncture. However, after using puncture detection and PHM the deviation from the puncture point is significantly reduced, by 65% with Micron, and by 95% with SHER representing a potential advantage over freehand for both.
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U2 - 10.1109/EMBC.2016.7591876
DO - 10.1109/EMBC.2016.7591876
M3 - Conference contribution
C2 - 28269417
AN - SCOPUS:85009067392
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5107
EP - 5111
BT - 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 August 2016 through 20 August 2016
ER -