로보틱 경막외주입술을 위한 바늘 주사 시스템의 구현

Abstract

Measuring and controlling the contact force between tissues and surgical instruments is critical but challenging in robot-assisted and minimally invasive procedures. A representative minimally invasive procedure, epidural injection aims to minimize nerve damage and employs a contact force-based loss of resistance (LOR) technique to position the needle within the epidural space. Applying the principles of the LOR technique, several studies have proposed sensors and needle systems capable of measuring the contact force between biological tissues and epidural needles. However, further research is needed to quantitatively evaluate system performance within the epidural injection procedure and develop a precise robotic system to drive it. This study proposes a sensor and needle injection system for measuring contact force and quantitatively demonstrates its performance according to the epidural injection procedure.