Medical interventions require control over surgical needle insertion to minimize tissue damage and target inaccuracies during percutaneous procedures. The composite coating of the needle using Polydopamine (PDA), Polytetrafluoroethylene (PTFE), and Activated Carbon (C) has been used to reduce the damaging needle insertion force. This research aims to further understand the interfacial mechanics of coated needle insertion by studying the forces at the needle and tissue interface and developing an analytical insertion force model through a combined experimental and numerical method. The proposed analytical force model is divided into two components: (1) Friction force on the needle shaft, modeled using a modified Karnopp model that includes an elastic force component; (2) Cutting force on the needle tip, modeled using a constant cutting coefficient for a given tissue and insertion speed. In this work, the analytical model was established by incorporating experiments conducted at a reasonable 35 mm insertion depth in tissues. In a bovine kidney with a 35 mm insertion depth, the insertion force evaluated through experimentation and modeling differed by 6.5% for a bare needle and 17.1% for a coated needle. It is important to note that this difference in the analytical insertion force model is anticipated when dealing with real tissues with a highly complex structured tissue. Prediction of the insertion force could potentially be utilized in robotic needle systems for needle control to improve the success of percutaneous procedures.
In this study, we developed a new haptic–mixed reality intravenous (HMR-IV) needle insertion simulation system, providing a bimanual haptic interface integrated into a mixed reality system with programmable variabilities considering real clinical environments. The system was designed for nursing students or healthcare professionals to practice IV needle insertion into a virtual arm with unlimited attempts under various changing insertion conditions (e.g., skin: color, texture, stiffness, friction; vein: size, shape, location depth, stiffness, friction). To achieve accurate hand–eye coordination under dynamic mixed reality scenarios, two different haptic devices (Dexmo and Geomagic Touch) and a standalone mixed reality system (HoloLens 2) were integrated and synchronized through multistep calibration for different coordinate systems (real world, virtual world, mixed reality world, haptic interface world, HoloLens camera). In addition, force-profile-based haptic rendering proposed in this study was able to successfully mimic the real tactile feeling of IV needle insertion. Further, a global hand-tracking method, combining two depth sensors (HoloLens and Leap Motion), was developed to accurately track a haptic glove and simulate grasping a virtual hand with force feedback. We conducted an evaluation study with 20 participants (9 experts and 11 novices) to measure the usability of the HMR-IV simulation system with user performance under various insertion conditions. The quantitative results from our own metric and qualitative results from the NASA Task Load Index demonstrate the usability of our system.
more » « less- Award ID(s):
- 2118380
- PAR ID:
- 10525714
- Publisher / Repository:
- MDPI
- Date Published:
- Journal Name:
- Sensors
- Volume:
- 23
- Issue:
- 15
- ISSN:
- 1424-8220
- Page Range / eLocation ID:
- 6697
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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null (Ed.)This study is aimed to evaluate the effects of coated surgical needles with composite polymers such as polydopamine (PDA), polytetrafluoroethylene (PTFE), and carbon. The coated needle’s lubrication properties were measured using 3 DOF force sensors and 3D robot system by the repetitive insertion in soft tissue materials. Needle durability is a measure of needle sharpness after repeated passage through high stiffness tissue materials. The composite coatings were shown to reduce the insertion force by ∼49% and retraction forces by ∼46% when tested using a bovine kidney. The surface roughness and the lateral friction force of the needle are measured using the Atomic Force Microscope (AFM). The adhesion energy of the different coating on the needle will be measured using a nano-scratch method.more » « less
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Abstract Fluid power systems can be expensive and difficult to access, making it challenging to provide hands-on training. This work discusses the incorporation of Mixed Reality (MR) technology in Fluid Power applications for providing a virtual training environment that simulates the behavior of fluid power systems, allowing users to receive immediate feedback on the system’s performance. Mixed reality is a digitized-based technology that integrates a virtual environment with our real world by utilizing real-world sensor data and computer models. This technology allows running simulations that examine the complexity of highly-coupled systems, producing new digital environments where physical and digital elements can interact in real-time. With all these features, MR technology can be a practical training tool for running virtual simulations that mimic real-life industry settings. It can extend the user with a virtual training environment, thus preparing the next generation of fluid power engineers and specialists. Throughout this work, we present the development and capabilities of a digitized virtual copy of a hydraulic excavator’s arm in an MR environment as a proof of concept. The MR arm module is developed and deployed using Microsoft’s Mixed Reality Tool Kit (MRTK) for Unity through HoloLens 2 MR headset. The MR development involves generating virtual copies of the mechanical and hydraulic subsystems, conducting the virtual assembly, and creating a user interface in the MR environment to visualize and interact with the model. The developed MR module enables visualizing the excavator’s internal structure, conducting the virtual assembly, and running virtual simulations, all of which assist in training future fluid power operators. It is an effective training tool that helps train junior engineers/technicians, cutting down on cost and time.
- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.3390/s23156697
