Proximity-Based Haptic Feedback for Collaborative Robotic Needle Insertion

Abstract Collaborative robotic needle insertions have the potential to improve placement accuracy and safety, e.g., during epidural anesthesia. Epidural anesthesia provides effective regional pain management but can lead serious complications, such as nerve injury or cerebrospinal fluid leakage. Robotic assistance might prevent inadvertent puncture by providing haptic feedback physician. Haptic be realized on basis of force measurements at needle. However, contact should avoided for delicate structures. We propose a proximity-based method provide prior contact. measure distance boundary layers, visualize proximity operator further it resistance. compare our approach based forces visual without haptics. Participants are asked realize with each three modes. use phantoms that mimic structures punctured show improves placement, only reduces accidental puncture. The rate is 62% force-based feedback, 60% 6% feedback. Final inside space achieved in 38%, 70% 96% haptic, respectively. Our results suggest could safety context