Ⅲ. SYSTEM DESIGN AND IMPLEMENTATION 3.1 Sensorized needle guided injection system 19 3.1.1 Fabry–Perot interferometer–based simultaneous force–distance sensor · 20 3.1.2 Epidural probe with needle stylet form 23 3.1.3 Injection system with micro–precision actuator · 25 3.1.4 Puncture detection with phase–based loss of resistance · 26 3.2 XYZ–positioning robot system 30
Ⅳ. SYSTEM EVALUATION AND RESULTS 4.1 Proposed needle system and injection system 32 4.1.1 Linear relationship between contact force and FPI phase 32 4.1.2 Axial contact force resolution of epidural probe · 34 4.1.3 Epidural phantom fabrication and user study · 35 4.1.4 Force reference tracking evaluation 39 4.1.5 Energetic threshold and force tracking 42 4.1.6 Puncture detection algorithm 46 4.2 Integration with XYZ positioning robot system 47
Ⅴ. DISCCUSION AND CONCLUSION 5.1 Discussion 48 5.2 Summary and Conclusion 49 5.3 Future works 50 5.3.1 Additional user study and ex–vivo study 50 5.3.2 Multi–index–based puncture detection algorithm 51 5.3.3 Software implementation of XYZ positioning robot system 53