Title

A Fiber–Optic Force Sensor–Assisted Robotic System for Epidural Injection

Alternative Title

경막외 주사를 위한 광섬유 힘 센서 보조 로봇 시스템

DGIST Authors

Gichan Cho ; Cheol Song ; Hyunjung Kwon

Advisor

송철

Co-Advisor(s)

Hyunjung Kwon

Issued Date

2024

Awarded Date

2024-02-01

Citation

Gichan Cho. (2024). A Fiber–Optic Force Sensor–Assisted Robotic System for Epidural Injection. doi: 10.22677/THESIS.200000730563

Type

Thesis

Description

Epidural injection;Fabry-Perot interferometer;Pain intervention procedure;Puncture detection;Robotic injection system

Table Of Contents

List of Contents
Abstract i
List of contents ii
List of tables · ⅳ
List of figures · ⅴ

Ⅰ. INTRODUCTION
1.1 Study Background 1
1.2 Previous studies 4
1.3 Study objectives 5
1.4 Study scopes · 6

Ⅱ. WORKING PRINCIPLE
2.1 Fiber–optics–based force sensor 7
2.1.1 Fabry–Perot interferometer (FPI) 7
2.1.2 Multicavity (hybrid–cavity) extrinsic Fabry–Perot interferometer · 10
2.2 Optical Coherence Tomography (OCT)· 13
2.3 Elector–mechanical linear actuator 16

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

URI

http://hdl.handle.net/20.500.11750/48076
http://dgist.dcollection.net/common/orgView/200000730563

DOI

10.22677/THESIS.200000730563

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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