University of Twente Student Theses

Login

Development and evaluation of novel passive haptic guidance for teleoperated percutaneous needle insertion

Koehorst, P. (2025) Development and evaluation of novel passive haptic guidance for teleoperated percutaneous needle insertion.

[img] PDF
2MB
Abstract:This study explores passive and active haptic guidance techniques for teleoperated needle insertion in percutaneous biopsies. Traditional surgeries benefit from kinesthetic and tactile feedback, but teleoperated systems often lack these, increasing cognitive load for surgeons. While active guidance methods, such as virtual springs, provide directed assistance, they can limit surgeon autonomy. This research introduces a novel passive guidance algorithm using impulse torques, virtual springs, and dampers, enabling intuitive control without active force application. Comparative experiments evaluated both active guidance (with varying stiffness levels) and the proposed passive algorithm. Performance was assessed using objective metrics (accuracy, execution time) and subjective metrics (user preference, usability). Results showed a 94% success rate for both methods in targeting small tumors (10, 8, and 6 mm diameters). Accuracy, execution time, and scan usage were comparable, with passive guidance achieving a mean deviation of 2.5 mm in 49 seconds, versus 2 mm in 37 seconds for active guidance. However, passive guidance had significantly lower usability, though still acceptable. The study highlights the potential of passive haptic guidance while underscoring trade-offs in usability and efficiency.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology, 54 computer science
Programme:Biomedical Engineering MSc (66226)
Link to this item:https://purl.utwente.nl/essays/105177
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page