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
Declaration of Conflict of Interest or Relationship
Feb 24, 2016
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. MRI-compatible Haptics : - PowerPoint PPT Presentation
Welcome message from author
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
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 ofthis presentation.
1
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 2Radiology, Stanford University, Stanford, CA, United States3Intelligent Fiber Optic Systems Corporation, Santa Clara, CA, United States
2
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. 3MRI of needle puncturing an abscess in the pelvis.
System Integration
4
5
Fiber Bragg Grating (FBG) Technology
Input Transmission Reflection
FBGOptical Fiber
Input Transmission
Reflection5 mm
5
Fiber Bragg Grating (FBG) Sensors
6
Design & Fabrication
7
Beam Theory
8
Sensor Placement
9
Minimum Error Regionsy1 = 25 mm
y2 = 82 mm
Santhi Elayaperumal
font harder to read.
Calibration
10
Santhi Elayaperumal
Change axes labels to be more readable.
11
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
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
Santhi Elayaperumal
crisp, concise conclusions.
14
Future Work: Robotic Manipulator and Integrated System
Acknowledgements
15
Related Documents
