Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas

Joelle Sogunro; Xiaochong  Wu; Carlo Saija; Basma Alabdullah; Joseph Rowell; Anhao Liu; Cristina  Sanchez Fernandez; Kawal Rhode; Christos Bergeles; Hadi Sadati

doi:10.1007/978-3-031-43360-3_34

Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas

Joelle Sogunro, Xiaochong Wu, Carlo Saija, Basma Alabdullah, Joseph Rowell, Anhao Liu, Cristina Sanchez Fernandez, Kawal Rhode, Christos Bergeles, Hadi Sadati^*

^*Corresponding author for this work

Surgical & Interventional Engineering

Kings College London

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

1 Citation (Scopus)

Abstract

Robot-assisted minimally invasive surgery with catheters and steerable cannulas such as Concentric Tube Robots can improve the postoperative patient experience. Haptic sensing for tooltip can reduce the chance of complications in such procedures, such as vessel irritation, vasospasm, perforation, and aneurysm rupture. This paper investigates the design of an affordable multi-directional micro force and tactile sensor by comparing two sensing modalities: (i) Electrical Impedance sensing (EIS) via tissue impedance and electrical noise measurement, and (ii) Force Sensitive Resistance (FSR) measurement. For both of these techniques, we successfully developed two bi-directional sensor sleeves that were designed to envelope cannulas of varying dimensional configurations. In in-vitro phantom experiments with realistic mechanical and electrical proprieties, We showcased that the proposed designs have the potential to be used as an affordable disposable multi-modal bi-directional tactile and force sensor for off-the-shelf vascular intervention catheters.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Proceedings
Editors	Fumiya Iida, Arsen Abdulali, Perla Maiolino, Mingfeng Wang
Pages	419-430
Number of pages	12
Volume	14136
DOIs	https://doi.org/10.1007/978-3-031-43360-3_34
Publication status	E-pub ahead of print - 8 Sept 2023

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14136 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

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https://www.researchgate.net/profile/Joelle-Sogunro/publication/373766725_Multi-directional_Force_and_Tactile_Sensor_Sleeves_for_Micro_Catheters_and_Cannulas/links/65146a8fcce2460b6c39294e/Multi-directional-Force-and-Tactile-Sensor-Sleeves-for-Micro-Catheters-and-Cannulas.pdfLicence: CC BY

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Sogunro, J., Wu, X., Saija, C., Alabdullah, B., Rowell, J., Liu, A., Sanchez Fernandez, C., Rhode, K., Bergeles, C., & Sadati, H. (2023). Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas. In F. Iida, A. Abdulali, P. Maiolino, & M. Wang (Eds.), Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Proceedings (Vol. 14136, pp. 419-430). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14136 LNAI). Advance online publication. https://doi.org/10.1007/978-3-031-43360-3_34

Sogunro, Joelle ; Wu, Xiaochong ; Saija, Carlo et al. / Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas. Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Proceedings. editor / Fumiya Iida ; Arsen Abdulali ; Perla Maiolino ; Mingfeng Wang. Vol. 14136 2023. pp. 419-430 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas",

abstract = "Robot-assisted minimally invasive surgery with catheters and steerable cannulas such as Concentric Tube Robots can improve the postoperative patient experience. Haptic sensing for tooltip can reduce the chance of complications in such procedures, such as vessel irritation, vasospasm, perforation, and aneurysm rupture. This paper investigates the design of an affordable multi-directional micro force and tactile sensor by comparing two sensing modalities: (i) Electrical Impedance sensing (EIS) via tissue impedance and electrical noise measurement, and (ii) Force Sensitive Resistance (FSR) measurement. For both of these techniques, we successfully developed two bi-directional sensor sleeves that were designed to envelope cannulas of varying dimensional configurations. In in-vitro phantom experiments with realistic mechanical and electrical proprieties, We showcased that the proposed designs have the potential to be used as an affordable disposable multi-modal bi-directional tactile and force sensor for off-the-shelf vascular intervention catheters.",

author = "Joelle Sogunro and Xiaochong Wu and Carlo Saija and Basma Alabdullah and Joseph Rowell and Anhao Liu and {Sanchez Fernandez}, Cristina and Kawal Rhode and Christos Bergeles and Hadi Sadati",

note = "Funding Information: Acknowledgment. This work was supported by an ERC Starting Grant [714562], the Wellcome/EPSRC Centre for Medical Engineering [WT 203148/Z/16/Z], and an NIHR Cardiovascular MIC Grant. Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.",

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Sogunro, J, Wu, X, Saija, C , Alabdullah, B, Rowell, J, Liu, A, Sanchez Fernandez, C, Rhode, K , Bergeles, C & Sadati, H 2023, Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas. in F Iida, A Abdulali, P Maiolino & M Wang (eds), Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Proceedings. vol. 14136, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14136 LNAI, pp. 419-430. https://doi.org/10.1007/978-3-031-43360-3_34

Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas. / Sogunro, Joelle; Wu, Xiaochong ; Saija, Carlo et al.
Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Proceedings. ed. / Fumiya Iida; Arsen Abdulali; Perla Maiolino; Mingfeng Wang. Vol. 14136 2023. p. 419-430 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14136 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

TY - CHAP

T1 - Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas

AU - Sogunro, Joelle

AU - Wu, Xiaochong

AU - Saija, Carlo

AU - Alabdullah, Basma

AU - Rowell, Joseph

AU - Liu, Anhao

AU - Sanchez Fernandez, Cristina

AU - Rhode, Kawal

AU - Bergeles, Christos

AU - Sadati, Hadi

N1 - Funding Information: Acknowledgment. This work was supported by an ERC Starting Grant [714562], the Wellcome/EPSRC Centre for Medical Engineering [WT 203148/Z/16/Z], and an NIHR Cardiovascular MIC Grant. Publisher Copyright: © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

PY - 2023/9/8

Y1 - 2023/9/8

N2 - Robot-assisted minimally invasive surgery with catheters and steerable cannulas such as Concentric Tube Robots can improve the postoperative patient experience. Haptic sensing for tooltip can reduce the chance of complications in such procedures, such as vessel irritation, vasospasm, perforation, and aneurysm rupture. This paper investigates the design of an affordable multi-directional micro force and tactile sensor by comparing two sensing modalities: (i) Electrical Impedance sensing (EIS) via tissue impedance and electrical noise measurement, and (ii) Force Sensitive Resistance (FSR) measurement. For both of these techniques, we successfully developed two bi-directional sensor sleeves that were designed to envelope cannulas of varying dimensional configurations. In in-vitro phantom experiments with realistic mechanical and electrical proprieties, We showcased that the proposed designs have the potential to be used as an affordable disposable multi-modal bi-directional tactile and force sensor for off-the-shelf vascular intervention catheters.

AB - Robot-assisted minimally invasive surgery with catheters and steerable cannulas such as Concentric Tube Robots can improve the postoperative patient experience. Haptic sensing for tooltip can reduce the chance of complications in such procedures, such as vessel irritation, vasospasm, perforation, and aneurysm rupture. This paper investigates the design of an affordable multi-directional micro force and tactile sensor by comparing two sensing modalities: (i) Electrical Impedance sensing (EIS) via tissue impedance and electrical noise measurement, and (ii) Force Sensitive Resistance (FSR) measurement. For both of these techniques, we successfully developed two bi-directional sensor sleeves that were designed to envelope cannulas of varying dimensional configurations. In in-vitro phantom experiments with realistic mechanical and electrical proprieties, We showcased that the proposed designs have the potential to be used as an affordable disposable multi-modal bi-directional tactile and force sensor for off-the-shelf vascular intervention catheters.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Proceedings

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ER -

Sogunro J, Wu X, Saija C , Alabdullah B, Rowell J, Liu A et al. Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas. In Iida F, Abdulali A, Maiolino P, Wang M, editors, Towards Autonomous Robotic Systems - 24th Annual Conference, TAROS 2023, Proceedings. Vol. 14136. 2023. p. 419-430. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). Epub 2023 Sept 8. doi: 10.1007/978-3-031-43360-3_34

Multi-directional Force and Tactile Sensor Sleeves for Micro Catheters and Cannulas

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