{"id":{"repo_id":"uwo","oai_identifier":"oai:uwo.scholaris.ca:20.500.14721/34758"},"canonical_url":"https://search.dev.ndltd.org/etd/uwo/oai:uwo.scholaris.ca:20.500.14721/34758","repository":{"repo_id":"uwo","name":"Western University","base_url":"https://uwo.scholaris.ca/server/oai/request"},"display":{"title":"Real-time membrane puncture detection using force sensors for micro-injections in phantoms","abstract":"Micro-manipulators provide tools for researchers to improve workflow in common preclinical and clinical applications. Following drug delivery injections where drugs did not reach their target will squander research time, experimental animals and other resources. An ultrasound-guided robot developed at Robarts Research Institute was revised to implement closed-loop force feedback to compensate for tissue deformation during micro-interventions. Force sensors can detect puncture events as the needle penetrates tissue membranes, thereby reducing damage to surrounding tissues by preventing the needle from overshooting its target. Changing the angle of injection determined that the range of detectable forces during injections into tissue-mimicking phantoms suggests that sensors accurately measure projection of the needle force onto the vertical direction and are sensitive to puncture events through relatively thick (0.15 mm) membranes. Injections into mouse tissue yielded low success rates, suggesting different experimental designs are necessary to provide safer and less traumatic procedures, thus accelerating preclinical research.","abstract_html":"Micro-manipulators provide tools for researchers to improve workflow in common preclinical and clinical applications. Following drug delivery injections where drugs did not reach their target will squander research time, experimental animals and other resources. An ultrasound-guided robot developed at Robarts Research Institute was revised to implement closed-loop force feedback to compensate for tissue deformation during micro-interventions. Force sensors can detect puncture events as the needle penetrates tissue membranes, thereby reducing damage to surrounding tissues by preventing the needle from overshooting its target. Changing the angle of injection determined that the range of detectable forces during injections into tissue-mimicking phantoms suggests that sensors accurately measure projection of the needle force onto the vertical direction and are sensitive to puncture events through relatively thick (0.15 mm) membranes. Injections into mouse tissue yielded low success rates, suggesting different experimental designs are necessary to provide safer and less traumatic procedures, thus accelerating preclinical research.","abstract_has_math":false,"creators":["Kowal, Szymon"],"institution":"The University of Western Ontario","degree_name":"M Sc","degree_level":null,"degree_discipline":"Medical Biophysics","degree_department":null,"school":null,"contributors":[],"advisors":["James Lacefield"],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-06-13","date_published":"2017-06-13","updated_at":"2026-07-27T21:56:07Z","subjects":["Medical robotics","image-guided interventions","small animal imaging","force feedback","real-time control."],"languages":["en_ca"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/20.500.14721/34758","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["James Lacefield"]},{"key":"dc:creator","label":"Author","values":["Kowal, Szymon"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2025-07-10T20:10:15Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2025-07-10T20:10:15Z"]},{"key":"dc:date.issued","label":"Date","values":["2017-06-13"]},{"key":"dc:publisher","label":"Institution","values":["The University of Western Ontario"]},{"key":"dc:type","label":"Dc Type","values":["thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Medical Biophysics"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M Sc"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Medical robotics","image-guided interventions","small animal imaging","force feedback","real-time control."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_ca"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/20.500.14721/34758"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The thesis cover page in the PDF document includes references to Western University’s previous institutional repository platform, known as Scholarship@Western, and links to that platform (beginning with ir.lib.uwo.ca). In citing or referring to this thesis, use the DOI or handle from this page instead. Sample citation: Author name, \"Thesis title.\" (Year). Western University Open Repository. https://doi.org/10.71858/123456."]},{"key":"dc:description.abstract","label":"Abstract","values":["Micro-manipulators provide tools for researchers to improve workflow in common preclinical and clinical applications. Following drug delivery injections where drugs did not reach their target will squander research time, experimental animals and other resources. An ultrasound-guided robot developed at Robarts Research Institute was revised to implement closed-loop force feedback to compensate for tissue deformation during micro-interventions. Force sensors can detect puncture events as the needle penetrates tissue membranes, thereby reducing damage to surrounding tissues by preventing the needle from overshooting its target. Changing the angle of injection determined that the range of detectable forces during injections into tissue-mimicking phantoms suggests that sensors accurately measure projection of the needle force onto the vertical direction and are sensitive to puncture events through relatively thick (0.15 mm) membranes. Injections into mouse tissue yielded low success rates, suggesting different experimental designs are necessary to provide safer and less traumatic procedures, thus accelerating preclinical research."]},{"key":"dc:title","label":"Title","values":["Real-time membrane puncture detection using force sensors for micro-injections in phantoms"]}]}],"canonical_facts":{"dc:contributor.advisor":["James Lacefield"],"dc:creator":["Kowal, Szymon"],"dc:date.accessioned":["2025-07-10T20:10:15Z"],"dc:date.available":["2025-07-10T20:10:15Z"],"dc:date.issued":["2017-06-13"],"dc:description":["The thesis cover page in the PDF document includes references to Western University’s previous institutional repository platform, known as Scholarship@Western, and links to that platform (beginning with ir.lib.uwo.ca). In citing or referring to this thesis, use the DOI or handle from this page instead. Sample citation: Author name, \"Thesis title.\" (Year). Western University Open Repository. https://doi.org/10.71858/123456."],"dc:description.abstract":["Micro-manipulators provide tools for researchers to improve workflow in common preclinical and clinical applications. Following drug delivery injections where drugs did not reach their target will squander research time, experimental animals and other resources. An ultrasound-guided robot developed at Robarts Research Institute was revised to implement closed-loop force feedback to compensate for tissue deformation during micro-interventions. Force sensors can detect puncture events as the needle penetrates tissue membranes, thereby reducing damage to surrounding tissues by preventing the needle from overshooting its target. Changing the angle of injection determined that the range of detectable forces during injections into tissue-mimicking phantoms suggests that sensors accurately measure projection of the needle force onto the vertical direction and are sensitive to puncture events through relatively thick (0.15 mm) membranes. Injections into mouse tissue yielded low success rates, suggesting different experimental designs are necessary to provide safer and less traumatic procedures, thus accelerating preclinical research."],"dc:identifier.uri":["https://hdl.handle.net/20.500.14721/34758"],"dc:language.iso":["en_ca"],"dc:publisher":["The University of Western Ontario"],"dc:subject":["Medical robotics","image-guided interventions","small animal imaging","force feedback","real-time control."],"dc:title":["Real-time membrane puncture detection using force sensors for micro-injections in phantoms"],"dc:type":["thesis"],"thesis:degree_discipline":["Medical Biophysics"],"thesis:degree_name":["M Sc"]},"updated_at":"2026-07-27T21:56:07Z"}