Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation

Posted on 20/09/2018 in Research

Jonas Smits, Mouloud Ourak, Andy Gijbels, Laure Esteveny, Gianni Borghesan, Laurent Schoevaerdts, K. Willekens P. Stalmans E. Lankenau Hinnerk Schulz-Hildebrandt, Gereon Hüttmann, Dominiek Reynaerts, Emmanuel B. Vander Poorten: Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation. In: pp. 129-134, 2018.

Abstract

Retinal Vein Occlusion is a common retinal vascular disorder which can cause severe loss of vision. Retinal vein cannulation followed by injection of an anti-coagulant into the affected vein is a promising treatment. However, given the scale and fragility of the surgical workfield, this procedure is considered too high-risk to perform manually. A first successful robot-assisted procedure has been demonstrated. Even though successful, the procedure remains extremely challenging. This paper aims at providing a solution for the limited perception of instrument-tissue interaction forces as well as depth estimation during retinal vein cannulation. The development of a novel combined force and distance sensing cannulation needle relying on Fiber Bragg grating (FBG) and Optical Coherence Tomography (OCT) A-scan technology is reported. The design, the manufacturing process, the calibration method, and the experimental characterization of the produced sensor are discussed.
The functionality of the combined sensing modalities and the real-time distance estimation algorithm are validated respectively on in-vitro and ex-vivo models.

BibTeX (Download)

@inproceedings{Smits2018,
title = {Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation},
author = {Jonas Smits and Mouloud Ourak and Andy Gijbels and Laure Esteveny and Gianni Borghesan and Laurent Schoevaerdts and K. Willekens P. Stalmans E. Lankenau Hinnerk Schulz-Hildebrandt and Gereon H\"{u}ttmann and Dominiek Reynaerts and Emmanuel B. Vander Poorten},
url = {https://doi.org/10.1109/ICRA.2018.8460983},
doi = {10.1109/ICRA.2018.8460983},
year  = {2018},
date = {2018-09-20},
journal = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {129-134},
abstract = {Retinal Vein Occlusion is a common retinal vascular disorder which can cause severe loss of vision. Retinal vein cannulation followed by injection of an anti-coagulant into the affected vein is a promising treatment. However, given the scale and fragility of the surgical workfield, this procedure is considered too high-risk to perform manually. A first successful robot-assisted procedure has been demonstrated. Even though successful, the procedure remains extremely challenging. This paper aims at providing a solution for the limited perception of instrument-tissue interaction forces as well as depth estimation during retinal vein cannulation. The development of a novel combined force and distance sensing cannulation needle relying on Fiber Bragg grating (FBG) and Optical Coherence Tomography (OCT) A-scan technology is reported. The design, the manufacturing process, the calibration method, and the experimental characterization of the produced sensor are discussed. 
The functionality of the combined sensing modalities and the real-time distance estimation algorithm are validated respectively on in-vitro and ex-vivo models.},
keywords = {fiber probes, Medical optics instrumentation, Optical coherence tomography, Robotic},
pubstate = {published},
tppubtype = {inproceedings}
}