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Preliminary evaluation of haptic guidance for pre-positioning a comanipulated needle

Hadrien Gurnel 1, 2 Maud Marchal 3 Laurent Launay 2 Luc Beuzit 4 Alexandre Krupa 1
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
3 Hybrid - 3D interaction with virtual environments using body and mind
Inria Rennes – Bretagne Atlantique , IRISA-D6 - MEDIA ET INTERACTIONS
Abstract : In minimally-invasive procedures like biopsy, the physician has to insert a needle into the tissues of a patient to reach a target. Currently, this task is mostly performed manually. This can result in a large nal positioning error of the tip that might lead to misdiagnosis and inadequate treatment. In this paper, we present 5 haptic guides to assist the clinical gesture of needle insertion. Those guides were evaluated through a preliminary user study involving two physicians, both experts in needle manipulation.
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https://hal.inria.fr/hal-02387214
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Submitted on : Friday, November 29, 2019 - 4:17:57 PM
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  • HAL Id : hal-02387214, version 1

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Hadrien Gurnel, Maud Marchal, Laurent Launay, Luc Beuzit, Alexandre Krupa. Preliminary evaluation of haptic guidance for pre-positioning a comanipulated needle. SURGETICA 2019, Jun 2019, Rennes, France. pp.1-3. ⟨hal-02387214⟩

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