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Published byBelinda Higgins Modified over 9 years ago
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Declaration of Conflict of Interest or Relationship Speaker Name: Santhi Elayaperumal I have no conflicts of interest to disclose with regard to the subject matter of this presentation. 1
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MRI-compatible Haptics: Strain sensing for real-time estimation of three dimensional needle deflection in MRI environments Y-L. Park 1, S. Elayaperumal 1, S.C. Ryu 1, B. Daniel 2, R. J. Black 3, B. Moslehi 3, and M.R. Cutkosky 1 1 Mechanical Engineering, Stanford University, Stanford, CA, United States 2 Radiology, Stanford University, Stanford, CA, United States 3 Intelligent Fiber Optic Systems Corporation, Santa Clara, CA, United States 2
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Introduction Challenges in the Manipulation of Tools in MRI-guided Interventions. Lack of Sensing Capabilities & Tactile Cues in Medical Robotics. MRI-Compatible Force & Deflection-Sensing Needle. Dan Stoianovici and PneuStep, JHU. 3 MRI of needle puncturing an abscess in the pelvis.
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System Integration 4
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5 Fiber Bragg Grating (FBG) Technology InputTransmissionReflection FBG Optical Fiber Input Transmission Reflection 5 mm 5
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Fiber Bragg Grating (FBG) Sensors Wavelength Shifts Proportional to Strain. Immune to Electromagnetic Interference. Multiplexing/Demultiplexing Capabilities. Small and Flexible. High Resolution. Temperature Sensitive. 6
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Design & Fabrication 7
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Beam Theory 8
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Sensor Placement 9 Minimum Error Regions y 1 = 25 mm y 2 = 82 mm
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Calibration 10
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Results & Animal Test Benchtop results show <0.1mm accuracy when calibrated for manufacturing tolerances. MRI of a mature male beagle’s prostate and needle prototype. Deflections of 2.0mm and 2.5mm along the x and z axes respectively (scale exaggerated to highlight flexing.) 12
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Conclusions FBG Sensors Successful in Estimating Tip Deflection and Profile in 3D. No Image Artifact Resulted from Sensors. Sensor Signal Was Not Affected by the Magnetic Field. Possible Applications in: Manual Needle Manipulation & Robotic Trajectory Planning (Position Sensing) Tissue Deformation Validation Studies & Haptic Feedback (Force Sensing) Cryosurgery & RF Ablation (Temperature Sensing) etc. 13
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14 Future Work: Robotic Manipulator and Integrated System
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Acknowledgements 15
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