Query: force sensing microinstrument

Candidate papers:

abstract: Miniaturized and "smart" instruments capable of characterizing the mechanical properties of tiny biological tissues are needed for research in biology, physiology, and biomechanics, and can find very important clinical applications for diagnostics and minimally invasive surgery (MIS) We are developing a set of robotic microinstruments designed to augment the performance of surgeons and clinicians during MIS. These microtools are intended to restore (or even enhance) the finger palpation capabilities that the surgeon exploits to characterize tissue hardness and to measure pulsating vessels in traditional surgery, but which are substantially reduced in MIS. This paper describes the main applications and the performance of a prototype miniature robotic instrument consisting of a microfabricated microgripper, instrumented with semiconductor strain gauges as force sensors. The experimental set up used for the in vitro tests reported in this paper consists of the microprobe mounted on a workstation and teleoperated. A haptic interface provides force feedback to the operator. We have demonstrated that the system can discriminate, both qualitatively and quantitatively, tiny skin samples based on their different elastic properties, and "feel" microvessels on the basis of pulsating fluid flowing through them.
author_names: Arianna Menciassi

Anna Eisinberg

Maria Chiara Carrozza

Paolo Dario
title: Force sensing microinstrument for measuring tissue properties and pulse in microsurgery
year: 2003

abstract: Minimally invasive surgical robotic systems established the foundation for precise and refined surgery, and the intelligentization of robotic systems is an important direction for future development. Among the methods of intelligentization, microinstrument external force sensing is an open and challenging research area. Force sensing information is used not only to ensure that surgeons apply the appropriate amount of force but also to prevent unintentional tissue damage. Because a microinstrument is a compact and small sized construction, indirect force sensing method instead of the integration of sensors into the microinstrument is used, yielding better biocompatibility, sterilizability and monetary cost savings. This paper focuses on microinstrument tissue contact force sensing, and the microinstrument used is a three degrees of freedom cable driven manipulator. A contact force estimation strategy based on the differences in cable tension is established with consideration of the kinematics, dynamics and friction of the manipulator. A principle prototype of a surgical microinstrument force measurement system is developed, and then zero drift, hysteresis and force loading experiments are studied. Based on the experimental data of the force loading experiments, the relationship between cable tension and contact forces is established by using a bidirectional long short term memory plus multilayer perceptron network. The results show that the L2 cost of the network in the training set converges to 0.006 and that the RMSE of the network in the testing set converges to 0.053, and the network can meet the measurement requirements without overfitting. Therefore, the indirect force estimation method is a viable method of measuring forces of cable driven microinstrument and can be used to integrate force sensing information into surgical robotic systems to improve the operability of surgical robots.
author_names: Lingtao Yu

Xiaoyan Yu

Yongqing Zhang
title: Microinstrument contact force sensing based on cable tension using BLSTM MLP network
venue: Intell. Serv. Robotics
year: 2020

abstract: OBJECTIVES This study sought to evaluate the safety and effectiveness of catheter ablation of persistent atrial fibrillation (PsAF) using a porous tip contact force sensing catheter. BACKGROUND Although the safety and effectiveness of catheter ablation of paroxysmal atrial fibrillation are established, there are limited data on outcomes in patients with PsAF. As such, no ablation catheter is currently approved by the Food and Drug Administration for PsAF ablation. METHODS The prospective, multicenter, nonrandomized PRECEPT (Prospective Review of the Safety and Effectiveness of the THERMOCOOL SMARTTOUCH SF Catheter Evaluated for Treating Symptomatic PersistenT AF) study was conducted at 27 sites in the United States and Canada. Enrollment criteria included documented symptomatic PsAF and nonresponse or intolerance to =1 antiarrhythmic drug (Class I or III) An individualized treatment approach was used including pulmonary vein isolation with ablation of additional targets permitted at the investigators' discretion. To optimize treatment outcomes, a 3 month post ablation medication adjustment period followed by a 3 month therapy consolidation period were included. Arrhythmia recurrences were stringently monitored by monthly and symptomatic transtelephonic monitoring, electrocardiography, and Holter monitoring for up to 15 months after ablation. RESULTS Of 381 enrolled participants, 348 had the investigational catheter inserted and underwent ablation. The primary adverse event rate was 4.1% (15 events in 14 participants) Kaplan Meier analyses estimated a primary effectiveness success rate of 61.7% and a clinical success rate of 80.4% at 15 months. CONCLUSIONS The results demonstrate the clinical safety and effectiveness of PsAF ablation using contact force sensing technologies. The primary adverse event was within the expected range and similar to those reported in historical studies of paroxysmal AF ablation. (Prospective Review of the Safety and Effectiveness of the THERMOCOOL SMARTTOUCH SF Catheter Evaluated for Treating Symptomatic PersistenT AF; NCT02817776)
author_names: Moussa Mansour

Hugh Calkins

Jose Osorio

Scott J Pollak

Daniel Melby

Francis E Marchlinski

Charles A Athill

Craig Delaughter

Anshul M Patel

Philip J Gentlesk

Brian DeVille

Laurent Macle

Kenneth A Ellenbogen

Srinivas R Dukkipati

Vivek Y Reddy

Andrea Natale
title: Persistent Atrial Fibrillation Ablation With Contact Force Sensing Catheter: The Prospective Multicenter PRECEPT Trial.
venue: JACC. Clinical electrophysiology
year: 2020

abstract: Traditional gait analysis systems based on 3D motion capture system require large, expensive equipment and specialists to operate the system, presenting time and space constraints. Although various studies have been conducted on developing wearable gait analysis devices, the results were discontinuous, there were limitations in dividing the gait phases, and appropriate responses to changes in physical conditions and walking speed were not demonstrated. To overcome these problems, the present study developed an insole device fitted with force sensing resistors for the measurement of the ground reaction force, and designed a gait analysis technique based on results from a gait experiment conducted on eight healthy male adults. This novel gait analysis algorithm examined the forward and lateral centers of the pressure values generated during gait, ratio of these two values for the division of the gait cycle into eight phases, and identification of the point when the weight support transition between the two feet occurred. The data acquisition system (DAS) comprising the developed insole device and wireless data transceiver, is expected to be applicable for activities of daily living because it can be manufactured as a small, lightweight wearable device, and the proposed gait analysis technique is unaffected by the walking speed and physical conditions of the wearer.
author_names: Ji Su Park

Chang Min Lee

Sang-Mo Koo

Choong Hyun Kim
title: Gait Phase Detection Using Force Sensing Resistors
venue: IEEE Sensors Journal
year: 2020

abstract: We theoretically investigate optomechanical force sensing via precooling and quantum noise cancellation in two coupled cavity optomechanical systems. We show that force sensing based on the reduction of noise can be used to dramatically enhance the force sensing and that the precooling process can effectively improve the quantum noise cancellation. Specifically, we examine the effect of optomechanical cooling and noise reduction on the spectral density of the noise of the force measurement; these processes can significantly enhance the performance of optomechanical force sensing, and setting up the system in the resolved sideband regime can lead to an optimization of the cooling processes in a hybrid system. Such a scheme serves as a promising platform for quantum back action evading measurements of the motion and a framework for an optomechanical force sensor.
author_names: Tesfaye Tadesse Gebremariam

Ye-Xiong Zeng

Mojtaba Mazaheri

Chong Li
title: Enhancing optomechanical force sensing via precooling and quantum noise cancellation
venue: Science China Physics, Mechanics Astronomy
year: 2019

abstract: Mechanical forces are fundamental in cardiovascular biology, and deciphering the mechanisms by which they act remains a testing frontier in cardiovascular research. Here, we raise awareness of 2 recently discovered proteins, Piezo1 and Piezo2, which assemble as transmembrane triskelions to combine exquisite force sensing with regulated calcium influx. There is emerging evidence for their importance in endothelial shear stress sensing and secretion, NO generation, vascular tone, angiogenesis, atherosclerosis, vascular permeability and remodeling, blood pressure regulation, insulin sensitivity, exercise performance, and baroreceptor reflex, and there are early suggestions of relevance to cardiac fibroblasts and myocytes. Human genetic analysis points to significance in lymphatic disease, anemia, varicose veins, and potentially heart failure, hypertension, aneurysms, and stroke. These channels appear to be versatile force sensors, used creatively to inform various force sensing situations. We discuss emergent concepts and controversies and suggest that the potential for new important understanding is substantial.
author_names: David J Beech

Antreas C Kalli
title: Force Sensing by Piezo Channels in Cardiovascular Health and Disease
venue: Arteriosclerosis, thrombosis, and vascular biology
year: 2019

abstract: OBJECTIVES To provide a systematic overview of the literature assessing the value of haptic and force feedback in current simulators teaching laparoscopic surgical skills. DATA SOURCES The databases of Pubmed, Cochrane, Embase, Web of Science, and Google Scholar were searched to retrieve relevant studies published until January 31st, 2017. The search included laparoscopic surgery, simulation, and haptic or force feedback and all relevant synonyms. METHODS Duplicates were removed, and titles and abstracts screened. The remaining articles were subsequently screened full text and included in this review if they followed the inclusion criteria. A total of 2 types of feedback have been analyzed and will be discussed separately: haptic and force feedback. RESULTS A total of 4023 articles were found, of which 87 could be used in this review. A descriptive analysis of the data is provided. Results of the added value of haptic interface devices in virtual reality are variable. Haptic feedback is most important for more complex tasks. The interface devices do not require the highest level of fidelity. Haptic feedback leads to a shorter learning curve with a steadier upward trend. Concerning force feedback, force parameters are measured through force sensing systems in the instrument and/or the environment. These parameters, especially in combination with motion parameters, provide box trainers with an objective evaluation of laparoscopic skills. Feedback of force use both real time and postpractice has been shown to improve training. CONCLUSIONS Haptic feedback is added to virtual reality simulators to increase the fidelity and thereby improve training effect. Variable results have been found from adding haptic feedback. It is most important for more complex tasks, but results in only minor improvements for novice surgeons. Force parameters and force feedback in box trainers have been shown to improve training results.
author_names: Evelien M Overtoom

Tim Horeman

Frank Willem Jansen

Jenny Dankelman

Henk W R Schreuder
title: Haptic Feedback, Force Feedback, and Force Sensing in Simulation Training for Laparoscopy: A Systematic Overview.
venue: Journal of surgical education
year: 2019

abstract: Nanometer scale structures with high aspect ratios such as nanowires and nanotubes combine low mechanical dissipation with high resonance frequencies, making them ideal force transducers and scanning probes in applications requiring the highest sensitivity. Such structures promise record force sensitivities combined with ease of use in scanning probe microscopes. A wide variety of possible material compositions and functionalizations is available, allowing for the sensing of various kinds of forces. In addition, nanowires possess quasi degenerate mechanical mode doublets, which allow for sensitive vectorial force and mass detection. These developments have driven researchers to use nanowire cantilevers in various force sensing applications, which include imaging of sample surface topography, detection of optomechanical, electrical, and magnetic forces, and magnetic resonance force microscopy. In this review, we discuss the motivation behind using nanowires as force transducers, explain the methods of force sensing with nanowire cantilevers, and give an overview of the experimental progress so far and future prospects of the field.
author_names: Floris R Braakman

Martino Poggio
title: Force sensing with nanowire cantilevers.
venue: Nanotechnology
year: 2019

abstract: We investigate quantum squeezing enhanced weak force sensing via a nonlinear optomechanical resonator containing a movable mechanical mirror and an optical parametric amplifier (OPA) Herein, we determined that tuning the OPA parameters can considerably suppress quantum noise and substantially enhance force sensitivity, enabling the device to extensively surpass the standard quantum limit. This indicates that under realistic experimental conditions, we can achieve ultrahigh precision quantum force sensing by harnessing nonlinear optomechanical devices.
author_names: Wen Zhao

Sheng-Dian Zhang

Adam Miranowicz

Hui Jing
title: Weak force sensing with squeezed optomechanics
venue: Science China Physics, Mechanics Astronomy
year: 2019

abstract: Abstract Few technologies exist that can provide quantitative data on forces within the mitral valve apparatus. Marker based strain measurements can be performed, but chordal geometry and restricted optical access are limitations. Foil based strain sensors have been described and work well, but the sensor footprint limits the number of chordae that can be measured. We instead utilized fiber Bragg grating (FBG) sensors optical strain gauges made of 125 mm diameter silica fibers to overcome some limitations of previous methods of measuring chordae tendineae forces. Using FBG sensors, we created a force sensing neochord (FSN) that mimics the natural shape and movement of native chordae. FBG sensors reflect a specific wavelength of light depending on the spatial period of gratings. When force is applied, the gratings move relative to one another, shifting the wavelength of reflected light. This shift is directly proportional to force applied. The FBG sensors were housed in a protective sheath fashioned from a 0.025 in. flat coil, and attached to the chordae using polytetrafluoroethylene suture. The function of the force sensing neochordae was validated in a three dimensional (3D) printed left heart simulator, which demonstrated that FBG sensors provide highly sensitive force measurements of mitral valve chordae at a temporal resolution of 1000 Hz. As ventricular pressures increased, such as in hypertension, chordae forces also increased. Overall, FBG sensors are a viable, durable, and high fidelity sensing technology that can be effectively used to measure mitral valve chordae forces and overcome some limitations of other such technologies.
author_names: Michael J Paulsen

Jung Hwa Bae

Annabel M Imbrie-Moore

Hanjay Wang

Camille E Hironaka

Justin M Farry

Haley J Lucian

Akshara D Thakore

Mark R Cutkosky

Y Joseph Woo
title: Development and Ex Vivo Validation of Novel Force Sensing Neochordae for Measuring Chordae Tendineae Tension in the Mitral Valve Apparatus Using Optical Fibers With Embedded Bragg Gratings
venue: Journal of biomechanical engineering
year: 2019