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Declaration of Conflict of Interest or Relationship

Declaration of Conflict of Interest or Relationship. Speaker Name: Santhi Elayaperumal I have no conflicts of interest to disclose with regard to the subject matter of this presentation. MRI-compatible Haptics :

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Declaration of Conflict of Interest or Relationship

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  1. Declaration of Conflict of Interest or Relationship Speaker Name: Santhi Elayaperumal I have no conflicts of interest to disclose with regard to the subject matter of this presentation.

  2. MRI-compatible Haptics: Strain sensing for real-time estimation of three dimensional needle deflection in MRI environments Y-L. Park1, S. Elayaperumal1, S.C. Ryu1, B. Daniel2, R. J. Black3, B. Moslehi3, and M.R. Cutkosky1 1Mechanical Engineering, Stanford University, Stanford, CA, United States 2Radiology, Stanford University, Stanford, CA, United States 3Intelligent Fiber Optic Systems Corporation, Santa Clara, CA, United States

  3. Introduction • Challenges in the Manipulation of Tools in MRI-guided Interventions. • Lack of Sensing Capabilities & Tactile Cues in Medical Robotics. • MRI-CompatibleForce & Deflection-Sensing Needle. Dan Stoianovici and PneuStep, JHU. MRI of needle puncturing an abscess in the pelvis.

  4. System Integration

  5. Fiber Bragg Grating (FBG) Technology Transmission Input FBG Reflection Optical Fiber 5 mm Input Transmission Reflection 5

  6. Fiber Bragg Grating (FBG) Sensors • Wavelength Shifts Proportional to Strain. • Immune to Electromagnetic Interference. • Multiplexing/Demultiplexing Capabilities. • Small and Flexible. • High Resolution. • Temperature Sensitive.

  7. Design & Fabrication

  8. Beam Theory

  9. Sensor Placement Minimum Error Regions y1 = 25 mm y2 = 82 mm

  10. Calibration

  11. Results & Animal Test Benchtop results show <0.1mm accuracy when calibrated for manufacturing tolerances. MRI of a mature male beagle’s prostate and needle prototype. Deflections of 2.0mm and 2.5mm along the x and z axes respectively (scale exaggerated to highlight flexing.)

  12. Conclusions • FBG Sensors Successful in Estimating Tip Deflection and Profile in 3D. • No Image Artifact Resulted from Sensors. • Sensor Signal Was Not Affected by the Magnetic Field. • Possible Applications in: • Manual Needle Manipulation & Robotic Trajectory Planning • (Position Sensing) • Tissue Deformation Validation Studies & Haptic Feedback • (Force Sensing) • Cryosurgery & RF Ablation (Temperature Sensing) • etc.

  13. Future Work: Robotic Manipulator and Integrated System

  14. Acknowledgements

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