Transcript Declaration of Conflict of Interest or Relationship

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.
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MRI-compatible Haptics:
Strain sensing for real-time estimation
of three dimensional needle deflection
in MRI environments
Y-L. Park1, S. Elayaperumal1, S.C. Ryu1, B. Daniel2,
R. J. Black3, B. Moslehi3, and M.R. Cutkosky1
1Mechanical
Engineering, Stanford University, Stanford, CA, United States
Stanford University, Stanford, CA, United States
3Intelligent Fiber Optic Systems Corporation, Santa Clara, CA, United States
2Radiology,
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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.
MRI of needle puncturing an abscess in the pelvis.
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System Integration
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Fiber Bragg Grating (FBG) Technology
Transmission
Input
Reflection
FBG
5 mm
Input
Transmission
Optical Fiber
Reflection
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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.
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Design & Fabrication
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Beam Theory
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Sensor Placement
Minimum
Error Regions
y1 = 25 mm
y2 = 82 mm
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Calibration
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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.)
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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.
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Future Work: Robotic Manipulator
and Integrated System
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Acknowledgements
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