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

J. Smits; M. Ourak; A. Gijbels; L. Esteveny; G. Borghesan; L. Schoevaerdts; K. Willekens; P. Stalmans; E. Lankenau; H. Schulz-Hildebrandt; G. Hüttmann; D. Reynaerts; E. B. Vander Poorten

doi:10.1109/ICRA.2018.8460983

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

J. Smits, M. Ourak, A. Gijbels, L. Esteveny, G. Borghesan, L. Schoevaerdts, K. Willekens, P. Stalmans, E. Lankenau, H. Schulz-Hildebrandt, G. Hüttmann, D. Reynaerts, E. B. Vander Poorten

Institute of Biomedical Optics

Institute of Medical Microbiology

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.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages	6
Publisher	IEEE
Publication date	01.05.2018
Pages	129-134
ISBN (Print)	978-1-5386-3082-2
ISBN (Electronic)	978-1-5386-3081-5
DOIs	https://doi.org/10.1109/ICRA.2018.8460983
Publication status	Published - 01.05.2018
Event	2018 IEEE International Conference on Robotics and Automation - Brisbane, Australia Duration: 21.05.2018 → 25.05.2018

Research Areas and Centers

Academic Focus: Biomedical Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ICRA.2018.8460983

Cite this

Smits, J., Ourak, M., Gijbels, A., Esteveny, L., Borghesan, G., Schoevaerdts, L., Willekens, K., Stalmans, P., Lankenau, E., Schulz-Hildebrandt, H., Hüttmann, G., Reynaerts, D., & Poorten, E. B. V. (2018). Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 129-134). (IEEE Proceedings). IEEE. https://doi.org/10.1109/ICRA.2018.8460983

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

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.",

author = "J. Smits and M. Ourak and A. Gijbels and L. Esteveny and G. Borghesan and L. Schoevaerdts and K. Willekens and P. Stalmans and E. Lankenau and H. Schulz-Hildebrandt and G. H{\"u}ttmann and D. Reynaerts and Poorten, {E. B. Vander}",

year = "2018",

month = may,

day = "1",

doi = "10.1109/ICRA.2018.8460983",

language = "English",

isbn = "978-1-5386-3082-2",

series = "IEEE Proceedings",

publisher = "IEEE",

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booktitle = "2018 IEEE International Conference on Robotics and Automation (ICRA)",

note = "2018 IEEE International Conference on Robotics and Automation , ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",

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Smits, J, Ourak, M, Gijbels, A, Esteveny, L, Borghesan, G, Schoevaerdts, L, Willekens, K, Stalmans, P, Lankenau, E, Schulz-Hildebrandt, H, Hüttmann, G, Reynaerts, D & Poorten, EBV 2018, Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation. in 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE Proceedings, IEEE, pp. 129-134, 2018 IEEE International Conference on Robotics and Automation , Brisbane, Queensland, Australia, 21.05.18. https://doi.org/10.1109/ICRA.2018.8460983

Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation. / Smits, J.; Ourak, M.; Gijbels, A. et al.
2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018. p. 129-134 (IEEE Proceedings).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

TY - GEN

T1 - Development and Experimental Validation of a Combined FBG Force and OCT Distance Sensing Needle for Robot-Assisted Retinal Vein Cannulation

AU - Smits, J.

AU - Ourak, M.

AU - Gijbels, A.

AU - Esteveny, L.

AU - Borghesan, G.

AU - Schoevaerdts, L.

AU - Willekens, K.

AU - Stalmans, P.

AU - Lankenau, E.

AU - Schulz-Hildebrandt, H.

AU - Hüttmann, G.

AU - Reynaerts, D.

AU - Poorten, E. B. Vander

PY - 2018/5/1

Y1 - 2018/5/1

N2 - 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.

AB - 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.

U2 - 10.1109/ICRA.2018.8460983

DO - 10.1109/ICRA.2018.8460983

M3 - Conference contribution

SN - 978-1-5386-3082-2

T3 - IEEE Proceedings

SP - 129

EP - 134

BT - 2018 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - 2018 IEEE International Conference on Robotics and Automation

Y2 - 21 May 2018 through 25 May 2018

ER -

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

Abstract

Research Areas and Centers

UN SDGs

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