Real-time membrane puncture detection using force sensors for micro-injections in phantoms

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.

Name thesis:degree_name

M Sc

Discipline thesis:degree_discipline

Medical Biophysics

Grantor dc:publisher

The University of Western Ontario

Year dc:date.issued

2017

Author dc:creator

• Kowal, Szymon

Advisor dc:contributor.advisor

• James Lacefield

• Medical robotics
• image-guided interventions
• small animal imaging
• force feedback
• real-time control.

Language dc:language.iso

en_ca

Handle dc:identifier.uri

https://hdl.handle.net/20.500.14721/34758

OAI identifier oai:identifier

oai:uwo.scholaris.ca:20.500.14721/34758