Development of a needle insertion manipulator for central venous catheterization

2011 ◽  
Vol 8 (1) ◽  
pp. 34-44 ◽  
Author(s):  
Yo Kobayashi ◽  
Jaesung Hong ◽  
Ryutaro Hamano ◽  
Kaoru Okada ◽  
Masakatsu G. Fujie ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Central Venous ◽  
Venous Catheterization

Design of a Virtual Reality Haptic Robotic Central Venous Catheterization Training Simulator

2016 ◽  
Author(s):  
David Pepley ◽  
Mary Yovanoff ◽  
Katelin Mirkin ◽  
David Han ◽  
Scarlett Miller ◽  
...  
Keyword(s):  
Medical Students ◽  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Robotic Arm ◽  
Medical Procedure ◽  
Training Device ◽  
Training Simulator ◽  
Central Venous ◽  
Robotic Training ◽  
Venous Catheterization

Central venous catheterization (CVC) is a medical procedure where a surgeon attempts to place a catheter in the jugular, subclavian, or femoral vein. While useful, this procedure places patients at risk of a wide variety of adverse effects. Traditionally, training is performed on CVC mannequins, but these mannequins cannot vary patient anatomy. This work describes the development of a mobile training platform utilizing a haptic robotic arm and electromagnetic tracker to simulate a CVC needle insertion. A haptic robotic arm with custom syringe attachment used force feedback to provide the feeling of a needle insertion. A virtual ultrasound environment was created and made navigable by a mock ultrasound probe containing a magnetic tracking device. The effectiveness of the system as a training tool was tested on 12 medical students without CVC experience. An average increase in successful first insertion of 4.2% per practice scenario was seen in students who trained exclusively on the robotic training device. The robotic training device was able to successfully vary the difficulty of the virtual patient scenarios which in turn affected the success rates of the medical students. These results show that this system has the potential to successfully train medical residents for future CVC insertions.

scholarly journals Integrating Cadaver Needle Forces Into a Haptic Robotic Simulator

2017 ◽  
Vol 12 (1) ◽  
Author(s):  
David F. Pepley ◽  
Mary A. Yovanoff ◽  
Katelin A. Mirkin ◽  
Scarlett R. Miller ◽  
David C. Han ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Force Sensing ◽  
Central Venous ◽  
Position Information ◽  
Venous Catheterization ◽  
Survey Results ◽  
Piecewise Exponential ◽  
Positive Outlook ◽  
Robotic Simulator

Accurate force simulation is essential to haptic simulators for surgical training. Factors such as tissue inhomogeneity pose unique challenges for simulating needle forces. To aid in the development of haptic needle insertion simulators, a handheld force sensing syringe was created to measure the motion and forces of needle insertions. Five needle insertions were performed into the neck of a cadaver using the force sensing syringe. Based on these measurements a piecewise exponential needle force characterization, was implemented into a haptic central venous catheterization (CVC) simulator. The haptic simulator was evaluated through a survey of expert surgeons, fellows, and residents. The maximum needle insertion forces measured ranged from 2.02 N to 1.20 N. With this information, four characterizations were created representing average, muscular, obese, and thin patients. The median survey results showed that users statistically agreed that “the robotic system made me sensitive to how patient anatomy impacts the force required to advance needles in the human body.” The force sensing syringe captured force and position information. The information gained from this syringe was able to be implemented into a haptic simulator for CVC insertions, showing its utility. Survey results showed that experts, fellows, and residents had an overall positive outlook on the haptic simulator's ability to teach haptic skills.

2A1-L12 Development of needle insertion system for Central Venous Catheterization

2009 ◽  
Vol 2009 (0) ◽  
pp. _2A1-L12_1-_2A1-L12_3
Author(s):  
Ryutaro HAMANO ◽  
Kaoru OKADA ◽  
You KOBAYASHI ◽  
Jaesung HONG ◽  
Makoto HASHIZUME ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Central Venous ◽  
Venous Catheterization

scholarly journals Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

2014 ◽  
Vol 1 (1) ◽  
Author(s):  
Yo Kobayashi ◽  
Ryutaro Hamano ◽  
Hiroki Watanabe ◽  
Takuma Koike ◽  
Jaesung Hong ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Central Venous ◽  
In Vivo Evaluation ◽  
Venous Catheterization

Incremental Needle Insertion System for Force and Position Sensing

2020 ◽  
Author(s):  
Dailen Brown ◽  
Jessica M. Gonzalez-Vargas ◽  
David Han ◽  
Scarlett Miller ◽  
Jason Moore
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Medical Simulation ◽  
Central Venous ◽  
Insertion Force ◽  
Position Sensing ◽  
Venous Catheterization ◽  
Fresh Frozen ◽  
Needle Insertion Force ◽  
Path Deviation

Abstract An Incremental Needle Insertion System (INIS) which simultaneously measures the force and position of a needle during insertion was designed and fabricated for use in a tissue deformation study to improve realism in medical simulation. The INIS was tested in a fresh frozen cadaver experiment and the position of the needle was plotted and compared to the expected needle path. It was found that the INIS is sufficiently accurate with an average path deviation of 1.55 mm. In addition, INIS was shown to successfully measure the maximum Central Venous Catheterization needle insertion force which ranged from 3.02 N to 3.73 N.

scholarly journals Evaluating Surgical Resident Needle Insertion Skill Gains in Central Venous Catheterization Training

2019 ◽  
Vol 233 ◽  
pp. 351-359 ◽  
Author(s):  
Hong-En Chen ◽  
Mary A. Yovanoff ◽  
David F. Pepley ◽  
Rohan S. Prabhu ◽  
Cheyenne C. Sonntag ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Central Venous ◽  
Surgical Resident ◽  
Venous Catheterization

Development of Needle Insertion Manipulator for Central Venous Catheterization

2011 ◽  
Vol 131 (4) ◽  
pp. 870-879
Author(s):  
Yo Kobayashi ◽  
Jaesung Hong ◽  
Ryutaro Hamano ◽  
Makoto Hashizume ◽  
Kaoru Okada ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Central Venous ◽  
Venous Catheterization

scholarly journals Objective Assessment Metrics for Central Line Simulators: An Exploration of Causal Factors

2020 ◽  
Vol 64 (1) ◽  
pp. 2008-2012
Author(s):  
Jessica M. Gonzalez-Vargas ◽  
Dailen C. Brown ◽  
Jason Z. Moore ◽  
David C. Han ◽  
Elizabeth H. Sinz ◽  
...  
Keyword(s):  
Central Venous Catheterization ◽  
Objective Assessment ◽  
Central Line ◽  
Expert Interviews ◽  
Central Venous ◽  
Patient Case ◽  
Causal Factors ◽  
Venous Catheterization ◽  
Assessment Metrics ◽  
Automated Feedback

The Dynamic Haptic Robotic Trainer (DHRT) was developed to minimize the up to 39% of adverse effects experienced by patients during Central Venous Catheterization (CVC) by standardizing CVC training, and provide automated assessments of performance. Specifically, this system was developed to replace manikin trainers that only simulate one patient anatomy and require a trained preceptor to evaluate the trainees’ performance. While the DHRT system provides automated feedback, the utility of this system with real-world scenarios and expertise has yet to be thoroughly investigated. Thus, the current study was developed to determine the validity of the current objective assessment metrics incorporated in the DHRT system through expert interviews. The main findings from this study are that experts do agree on perceptions of patient case difficulty, and that characterizations of patient case difficulty is based on anatomical characteristics, multiple needle insertions, and prior catheterization.

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