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• W3149308009 abstract "Tele-surgery is one of the emerging fields which combine engineering and medical sciences.Application of tele-surgery can be found in remote communities, war-zones and disasterstrickenareas. One of the most complex and tedious issue in tele-surgery is needle insertion.The surgeon relies on haptic feedback during needle insertion. The force exerted on needleduring insertion is measured and reproduced at surgeon's end is known as haptic feedback.The realistic force reproduction requires haptic feedback device which should bedynamically identical to needle. The haptic feedback device enables the surgeon to sense theneedle insertion remotely.The basic objective of this thesis is to design a device used for needle insertions in soft tissue.The force information from needle insertions is measured by a sensor. The force feedbackproduced by the device can be used in robot-assisted needle insertion. A device is designedfor reality-based data that results in more accurate representation of a needle insertion hapticfeedback scenario.The device is modeled dynamically and it is clear from the model that the reactive force isreproduced by the friction forces which is controlled by the motors. The system is sensitiveto mass of rollers, mass ofthe stick and friction between the stick and rollers.The needle insertion force is modeled in three parts; force due to capsule stiffness, friction,and cutting. The force due to capsule stiffness is modeled terms of three components namelydiameter of needle, elasticity of tissue and deformation of tissue. The data from model iscompared with real time force data. The haptic feedback device input and output forces arecompared and the highest correlation factor is 82%. The sensitivity analysis of the device isperformed. The capsule stiffness force for 0.9 millimeter diameter needle is 0.98 Newton, thestiffness force for 0.8 millimeter is 0.91 Newton and stiffness force for 0.6 millimeterdiameter is 0.4 I Newton. The capsule stiffness force for 0.6 millimeter needle is not following the capsule stiffness model. The insertion force data was collected on chicken skinand meat.The device designed in this work is having one degree of freedom; it only produces forcefeedback for vertical needle insertion. This design is not able to produce the force feedbackfor angular needle insertion.Graphical User Interface is designed for the visual haptic feedback. The data acquisition isdone with the help of a PC sound card. Future work should include the design of a multidegreeof freedom haptic feedback device and to advance the GUI for audio feedback thatmay be extended to accommodate the design of a simulator." @default.
• W3149308009 created "2021-04-13" @default.
• W3149308009 creator A5071678777 @default.
• W3149308009 date "2008-03-01" @default.
• W3149308009 modified "2023-09-26" @default.
• W3149308009 title "Haptic Feedback Device for Needle Insertion" @default.
• W3149308009 hasPublicationYear "2008" @default.
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