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A novel sensing method to detect tissue boundaries during robotic needle insertion based on laser Doppler flowmetry

Title: A novel sensing method to detect tissue boundaries during robotic needle insertion based on laser Doppler flowmetry
Authors: Virdyawan, V
Dessi, O
Rodriguez y Baena, F
Item Type: Journal Article
Abstract: This study investigates the use of Laser Doppler Flowmetry (LDF) as a method to detect tissue transitions during robotic needle insertions. Insertions were performed in gelatin tissue phantoms with different optical and mechanical properties and into ex-vivo sheep brain. The effect of changing the optical properties of gelatin tissue phantoms was first investigated and it was shown that using gelatin concentration to modify the stiffness of samples was suitable. Needle insertion experiments were conducted into both one-layer and two-layer gelatin phantoms. In both cases, three stages could be observed in the perfusion values: tissue loading, rupture and tissue cutting. These were correlated to force values measured from the tip of the needle during insertion. The insertions into ex-vivo sheep brain also clearly showed the time of rupture in both force and perfusion values, demonstrating that tissue puncture can be detected using an LDF sensor at the tip of a needle.
Issue Date: 1-Apr-2020
Date of Acceptance: 10-Jan-2020
URI: http://hdl.handle.net/10044/1/76889
DOI: 10.1109/lra.2020.2969151
ISSN: 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1524
End Page: 1531
Journal / Book Title: IEEE Robotics and Automation Letters
Volume: 5
Issue: 2
Copyright Statement: © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Engineering & Physical Science Research Council (E
Funder's Grant Number: 688279
Keywords: 0913 Mechanical Engineering
Publication Status: Published
Online Publication Date: 2020-01-24
Appears in Collections:Mechanical Engineering