Haptic-Feedback of a Force-Sensing Biopsy Needle

IEEE World Haptics Conference 2013 - Demonstration

Title of the demonstration: Haptic-Feedback of a Force-Sensing Biopsy Needle

Authors: Santhi Elayaperumal1, Jung Hwa Bae1, David Christensen1, Mark R. Cutkosky1, Bruce L. Daniel2, Richard J. Black3, Joannes M. Costa3, Fereydoun Faridian3 and Behzad Moslehi3

Affliation: 1Mechanical Engineering Dept., Stanford University, 2Radiology Dept., Stanford University, 3Intelligent Fiber Optic Systems Corporation (IFOS), Santa Clara, CA

Title of the corresponding paper: MR-compatible biopsy needle with enhanced tip force sensing

Abstract:
An instrumented needle that can sense interaction forces at its tip is mounted on a 1DOF stage. The sensors consist of optical ber Bragg gratings, affixed over micro-machined holes at the needle tip, which increase strain sensitivity to axial forces. This demonstration allows users to feel dynamic forces measured with the needle's sensors versus an external force/torque sensor at the base, as displayed on a voice-coil at the master end of the 1DOF stage. The user will be able to insert the needle in various phantom materials of different mechanical properties and receive haptic feedback in real-time.

Видео Haptic-Feedback of a Force-Sensing Biopsy Needle канала bdmlstanford