Towards a Wristed Percutaneous Robot With Variable Stiffness for Pericardiocentesis

Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE robotics and automation letters 2021-04, Vol.6 (2), p.2993-3000
Hauptverfasser: Yan, Kim, Yan, Wanquan, Zeng, Wenhui, Ding, Qingpeng, Chen, Jianghua, Yan, Junyan, Lam, Chun Ping, Wan, Song, Cheng, Shing Shin
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 3000
container_issue 2
container_start_page 2993
container_title IEEE robotics and automation letters
container_volume 6
creator Yan, Kim
Yan, Wanquan
Zeng, Wenhui
Ding, Qingpeng
Chen, Jianghua
Yan, Junyan
Lam, Chun Ping
Wan, Song
Cheng, Shing Shin
description Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that features a flexible wrist made of shape memory alloy (SMA) spring which can vary its stiffness through temperature variation. The SMA spring can be heated and thus stiffened to allow insertion. At lower temperature, it behaves like a spring backbone that allows the needle to be bent away from the heart and thus minimizing the chance of cardiac perforation. A heating tube made of nichrome wire and PTFE tube was developed to be the heat source for the SMA spring. The robot has an outer diameter of 4 mm, similar to the dilator used in pericardiocentesis, and a lumen to pass a guidewire through. A stiffness model and kinematics model were developed and verified through experiments. The surface temperature of the SMA-based wrist was evaluated to be less than the tissue necrosis temperature. Lastly, we demonstrated that the robot could be inserted into gelatin phantoms of different stiffnesses and produce a wristed motion under ultrasound guidance.
doi_str_mv 10.1109/LRA.2021.3062583
format Article
fullrecord <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_crossref_primary_10_1109_LRA_2021_3062583</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>9364687</ieee_id><sourcerecordid>2505706640</sourcerecordid><originalsourceid>FETCH-LOGICAL-c291t-8ba197e71516914215af7bedab1c0f2ae6565395d8e71b880c873d745ef288013</originalsourceid><addsrcrecordid>eNpNkM1LAzEQxYMoWGrvgpeA56352CS7x1L8goLSVnsM2d0JptRNTbKI_70pLeJpZuD33jweQteUTCkl9d1iOZsywuiUE8lExc_QiHGlCq6kPP-3X6JJjFtCCBVM8VqM0Grtv03oIjZ4E1xM0OFXCO2QTA9-iHjpG5_wxqUP_G6CM80O8Co5a3uIEVsfDrhrs4XzLfQJootX6MKaXYTJaY7R28P9ev5ULF4en-ezRdGymqaiagytFSgqqKxpyagwVjXQmYa2xDIDUkiRQ3ZVZpqqIm2leKdKAZbli_Ixuj367oP_GiAmvfVD6PNLzQQRikhZkkyRI9UGH2MAq_fBfZrwoynRh_Z0bk8f2tOn9rLk5ihxAPCH11yWMkf4BcZdanw</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2505706640</pqid></control><display><type>article</type><title>Towards a Wristed Percutaneous Robot With Variable Stiffness for Pericardiocentesis</title><source>IEEE Electronic Library Online</source><creator>Yan, Kim ; Yan, Wanquan ; Zeng, Wenhui ; Ding, Qingpeng ; Chen, Jianghua ; Yan, Junyan ; Lam, Chun Ping ; Wan, Song ; Cheng, Shing Shin</creator><creatorcontrib>Yan, Kim ; Yan, Wanquan ; Zeng, Wenhui ; Ding, Qingpeng ; Chen, Jianghua ; Yan, Junyan ; Lam, Chun Ping ; Wan, Song ; Cheng, Shing Shin</creatorcontrib><description>Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that features a flexible wrist made of shape memory alloy (SMA) spring which can vary its stiffness through temperature variation. The SMA spring can be heated and thus stiffened to allow insertion. At lower temperature, it behaves like a spring backbone that allows the needle to be bent away from the heart and thus minimizing the chance of cardiac perforation. A heating tube made of nichrome wire and PTFE tube was developed to be the heat source for the SMA spring. The robot has an outer diameter of 4 mm, similar to the dilator used in pericardiocentesis, and a lumen to pass a guidewire through. A stiffness model and kinematics model were developed and verified through experiments. The surface temperature of the SMA-based wrist was evaluated to be less than the tissue necrosis temperature. Lastly, we demonstrated that the robot could be inserted into gelatin phantoms of different stiffnesses and produce a wristed motion under ultrasound guidance.</description><identifier>ISSN: 2377-3766</identifier><identifier>EISSN: 2377-3766</identifier><identifier>DOI: 10.1109/LRA.2021.3062583</identifier><identifier>CODEN: IRALC6</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Bending ; Electron tubes ; Gelatin ; Heart ; Kinematics ; Necrosis ; Needles ; Nichrome (trademark) ; percutaneous needle ; pericardiocentesis ; Pericardium ; Robots ; Seasonal variations ; Shape memory alloys ; Springs ; steerable instrument ; Stiffness ; Surgical robot ; Ultrasonic imaging ; Ultrasound ; variable stiffness ; Wrist</subject><ispartof>IEEE robotics and automation letters, 2021-04, Vol.6 (2), p.2993-3000</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2021</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c291t-8ba197e71516914215af7bedab1c0f2ae6565395d8e71b880c873d745ef288013</citedby><cites>FETCH-LOGICAL-c291t-8ba197e71516914215af7bedab1c0f2ae6565395d8e71b880c873d745ef288013</cites><orcidid>0000-0002-9207-6613 ; 0000-0002-9386-5497 ; 0000-0002-7255-4817 ; 0000-0002-9873-4138</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9364687$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9364687$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Yan, Kim</creatorcontrib><creatorcontrib>Yan, Wanquan</creatorcontrib><creatorcontrib>Zeng, Wenhui</creatorcontrib><creatorcontrib>Ding, Qingpeng</creatorcontrib><creatorcontrib>Chen, Jianghua</creatorcontrib><creatorcontrib>Yan, Junyan</creatorcontrib><creatorcontrib>Lam, Chun Ping</creatorcontrib><creatorcontrib>Wan, Song</creatorcontrib><creatorcontrib>Cheng, Shing Shin</creatorcontrib><title>Towards a Wristed Percutaneous Robot With Variable Stiffness for Pericardiocentesis</title><title>IEEE robotics and automation letters</title><addtitle>LRA</addtitle><description>Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that features a flexible wrist made of shape memory alloy (SMA) spring which can vary its stiffness through temperature variation. The SMA spring can be heated and thus stiffened to allow insertion. At lower temperature, it behaves like a spring backbone that allows the needle to be bent away from the heart and thus minimizing the chance of cardiac perforation. A heating tube made of nichrome wire and PTFE tube was developed to be the heat source for the SMA spring. The robot has an outer diameter of 4 mm, similar to the dilator used in pericardiocentesis, and a lumen to pass a guidewire through. A stiffness model and kinematics model were developed and verified through experiments. The surface temperature of the SMA-based wrist was evaluated to be less than the tissue necrosis temperature. Lastly, we demonstrated that the robot could be inserted into gelatin phantoms of different stiffnesses and produce a wristed motion under ultrasound guidance.</description><subject>Bending</subject><subject>Electron tubes</subject><subject>Gelatin</subject><subject>Heart</subject><subject>Kinematics</subject><subject>Necrosis</subject><subject>Needles</subject><subject>Nichrome (trademark)</subject><subject>percutaneous needle</subject><subject>pericardiocentesis</subject><subject>Pericardium</subject><subject>Robots</subject><subject>Seasonal variations</subject><subject>Shape memory alloys</subject><subject>Springs</subject><subject>steerable instrument</subject><subject>Stiffness</subject><subject>Surgical robot</subject><subject>Ultrasonic imaging</subject><subject>Ultrasound</subject><subject>variable stiffness</subject><subject>Wrist</subject><issn>2377-3766</issn><issn>2377-3766</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkM1LAzEQxYMoWGrvgpeA56352CS7x1L8goLSVnsM2d0JptRNTbKI_70pLeJpZuD33jweQteUTCkl9d1iOZsywuiUE8lExc_QiHGlCq6kPP-3X6JJjFtCCBVM8VqM0Grtv03oIjZ4E1xM0OFXCO2QTA9-iHjpG5_wxqUP_G6CM80O8Co5a3uIEVsfDrhrs4XzLfQJootX6MKaXYTJaY7R28P9ev5ULF4en-ezRdGymqaiagytFSgqqKxpyagwVjXQmYa2xDIDUkiRQ3ZVZpqqIm2leKdKAZbli_Ixuj367oP_GiAmvfVD6PNLzQQRikhZkkyRI9UGH2MAq_fBfZrwoynRh_Z0bk8f2tOn9rLk5ihxAPCH11yWMkf4BcZdanw</recordid><startdate>20210401</startdate><enddate>20210401</enddate><creator>Yan, Kim</creator><creator>Yan, Wanquan</creator><creator>Zeng, Wenhui</creator><creator>Ding, Qingpeng</creator><creator>Chen, Jianghua</creator><creator>Yan, Junyan</creator><creator>Lam, Chun Ping</creator><creator>Wan, Song</creator><creator>Cheng, Shing Shin</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0002-9207-6613</orcidid><orcidid>https://orcid.org/0000-0002-9386-5497</orcidid><orcidid>https://orcid.org/0000-0002-7255-4817</orcidid><orcidid>https://orcid.org/0000-0002-9873-4138</orcidid></search><sort><creationdate>20210401</creationdate><title>Towards a Wristed Percutaneous Robot With Variable Stiffness for Pericardiocentesis</title><author>Yan, Kim ; Yan, Wanquan ; Zeng, Wenhui ; Ding, Qingpeng ; Chen, Jianghua ; Yan, Junyan ; Lam, Chun Ping ; Wan, Song ; Cheng, Shing Shin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c291t-8ba197e71516914215af7bedab1c0f2ae6565395d8e71b880c873d745ef288013</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Bending</topic><topic>Electron tubes</topic><topic>Gelatin</topic><topic>Heart</topic><topic>Kinematics</topic><topic>Necrosis</topic><topic>Needles</topic><topic>Nichrome (trademark)</topic><topic>percutaneous needle</topic><topic>pericardiocentesis</topic><topic>Pericardium</topic><topic>Robots</topic><topic>Seasonal variations</topic><topic>Shape memory alloys</topic><topic>Springs</topic><topic>steerable instrument</topic><topic>Stiffness</topic><topic>Surgical robot</topic><topic>Ultrasonic imaging</topic><topic>Ultrasound</topic><topic>variable stiffness</topic><topic>Wrist</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Yan, Kim</creatorcontrib><creatorcontrib>Yan, Wanquan</creatorcontrib><creatorcontrib>Zeng, Wenhui</creatorcontrib><creatorcontrib>Ding, Qingpeng</creatorcontrib><creatorcontrib>Chen, Jianghua</creatorcontrib><creatorcontrib>Yan, Junyan</creatorcontrib><creatorcontrib>Lam, Chun Ping</creatorcontrib><creatorcontrib>Wan, Song</creatorcontrib><creatorcontrib>Cheng, Shing Shin</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library Online</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics &amp; Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts – Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE robotics and automation letters</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Yan, Kim</au><au>Yan, Wanquan</au><au>Zeng, Wenhui</au><au>Ding, Qingpeng</au><au>Chen, Jianghua</au><au>Yan, Junyan</au><au>Lam, Chun Ping</au><au>Wan, Song</au><au>Cheng, Shing Shin</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Towards a Wristed Percutaneous Robot With Variable Stiffness for Pericardiocentesis</atitle><jtitle>IEEE robotics and automation letters</jtitle><stitle>LRA</stitle><date>2021-04-01</date><risdate>2021</risdate><volume>6</volume><issue>2</issue><spage>2993</spage><epage>3000</epage><pages>2993-3000</pages><issn>2377-3766</issn><eissn>2377-3766</eissn><coden>IRALC6</coden><abstract>Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that features a flexible wrist made of shape memory alloy (SMA) spring which can vary its stiffness through temperature variation. The SMA spring can be heated and thus stiffened to allow insertion. At lower temperature, it behaves like a spring backbone that allows the needle to be bent away from the heart and thus minimizing the chance of cardiac perforation. A heating tube made of nichrome wire and PTFE tube was developed to be the heat source for the SMA spring. The robot has an outer diameter of 4 mm, similar to the dilator used in pericardiocentesis, and a lumen to pass a guidewire through. A stiffness model and kinematics model were developed and verified through experiments. The surface temperature of the SMA-based wrist was evaluated to be less than the tissue necrosis temperature. Lastly, we demonstrated that the robot could be inserted into gelatin phantoms of different stiffnesses and produce a wristed motion under ultrasound guidance.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/LRA.2021.3062583</doi><tpages>8</tpages><orcidid>https://orcid.org/0000-0002-9207-6613</orcidid><orcidid>https://orcid.org/0000-0002-9386-5497</orcidid><orcidid>https://orcid.org/0000-0002-7255-4817</orcidid><orcidid>https://orcid.org/0000-0002-9873-4138</orcidid></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 2377-3766
ispartof IEEE robotics and automation letters, 2021-04, Vol.6 (2), p.2993-3000
issn 2377-3766
2377-3766
language eng
recordid cdi_crossref_primary_10_1109_LRA_2021_3062583
source IEEE Electronic Library Online
subjects Bending
Electron tubes
Gelatin
Heart
Kinematics
Necrosis
Needles
Nichrome (trademark)
percutaneous needle
pericardiocentesis
Pericardium
Robots
Seasonal variations
Shape memory alloys
Springs
steerable instrument
Stiffness
Surgical robot
Ultrasonic imaging
Ultrasound
variable stiffness
Wrist
title Towards a Wristed Percutaneous Robot With Variable Stiffness for Pericardiocentesis
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T05%3A41%3A33IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Towards%20a%20Wristed%20Percutaneous%20Robot%20With%20Variable%20Stiffness%20for%20Pericardiocentesis&rft.jtitle=IEEE%20robotics%20and%20automation%20letters&rft.au=Yan,%20Kim&rft.date=2021-04-01&rft.volume=6&rft.issue=2&rft.spage=2993&rft.epage=3000&rft.pages=2993-3000&rft.issn=2377-3766&rft.eissn=2377-3766&rft.coden=IRALC6&rft_id=info:doi/10.1109/LRA.2021.3062583&rft_dat=%3Cproquest_RIE%3E2505706640%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2505706640&rft_id=info:pmid/&rft_ieee_id=9364687&rfr_iscdi=true