Estimation of Surgical Needle Insertion Force Using Kalman Filter

Jafri, Syed Riaz un Nabi; Jamshaid, Ali; Jafri, Syed Minhaj un Nabi; Iqbal, Jamshed

Abstract

This paper presents a novel low-cost technique to measure the insertion force of a surgical needle on a testing surface to check needle strength. A combination of a load cell with a current sensor for a linear DC motor has been used to estimate the insertion force based on Kalman Filter (KF). The custom-designed and in-house fabricated system to estimate the insertion force comprises of the motor coupled with a vertically articulated arm. The needle to be tested is mounted at the end of the arm. Movement of the arm has been controlled electronically to produce the insertion force by the needle to a testing surface. The sensory measurement data generated during this process has been collected using Arduino based embedded electronic hardware. The KF based proposed strategy has been validated using the developed system by conducting various tests with different needles. Results in the form of penetration force and friction force have been experimentally observed and are then compared with standard force meters. Comparative analysis witnesses efficiency of the proposed approach.

Citation

Jafri, S. R. U. N., Jamshaid, A., Jafri, S. M. U. N., & Iqbal, J. (2020). Estimation of Surgical Needle Insertion Force Using Kalman Filter. Journal of Electrical Engineering & Technology, 15(2), 899-906. https://doi.org/10.1007/s42835-020-00355-3

• Journal Article Type: Article
• Acceptance Date: Jan 20, 2020
• Online Publication Date: Jan 29, 2020
• Publication Date: 2020-03
• Deposit Date: Sep 14, 2021
• Publicly Available Date: Oct 4, 2021
• Journal: Journal of Electrical Engineering and Technology
• Print ISSN: 1975-0102
• Electronic ISSN: 2093-7423
• Publisher: Springer
• Peer Reviewed: Peer Reviewed
• Volume: 15
• Issue: 2
• Pages: 899-906
• DOI: https://doi.org/10.1007/s42835-020-00355-3
• Keywords: Kalman filter; Sensor fusion; Biomedical system; Surgical needle; Load cell; Current sensor
• Public URL: https://hull-repository.worktribe.com/output/3796876