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Session: Surgery & Intervention
Session starts: Friday 27 January, 14:00
Presentation starts: 15:00
Room: Room 531

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Mostafa Selim ()
Anne Verhoef ()
Momen Abayazid ()

Abstract:
One of the most challenging medical procedures involves operating on the liver because of its complex features, mechanical properties, and continuous movement. Remote needle insertion for the liver and general medical procedures using haptic feedback are uncommon. The required training, safety considerations, and technological feasibility are some challenges to implementing such a feature. Stability and transparency are the main challenges of any haptic device in a teleoperated system. These make it challenging to develop a safe and efficient system that suits the physician's needs in liver needle insertion procedures, not damaging healthy tissues, and extracting correct samples. [1] [2] [3] The work aims to investigate whether teleoperation with haptic feedback potentially improves the efficiency and safety of the liver needle insertion procedure compared to conventional methods. We conducted a study to look into state-of-the-art haptic device technologies, and then we developed a prototype to test the hypothesis. The 1 DOF pneumatic haptic device provides kinesthetic feedback to perform the needle insertion remotely to investigate the added value of haptic feedback. It consists of a joystick to control the needle position and two soft pneumatic actuators assembled into a ring, which provides force feedback. The device can be used for multiple procedures, such as biopsies and ablation. The design requirements were investigated by conducting experiments in different operating conditions and evaluating the potentiometer and the force sensor measurements. The results showed that the haptic device can be controlled to generate forces up to 20 N with keeping track of the handle position in real-time. Future work will include integrating this device with a replica needle insertion device and a force sensor to send the signal to the haptic device. Moreover, we will evaluate the system's transparency by comparing the force signal provided by the replica and the one felt by the user. Finally, mechanical stops and environmental awareness algorithms will be integrated into the system to guarantee safety.