{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,28]],"date-time":"2026-10-28T22:33:21Z","timestamp":1793226801051,"version":"4.5.0"},"reference-count":31,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2021,2,16]],"date-time":"2021-02-16T00:00:00Z","timestamp":1613433600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2021,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>The use of lumbar puncture for paediatric diagnosis and treatment, such as cerebrospinal fluid sampling and intracranial pressure measurements, is steadily increasing. However, the standard \u2018blind\u2019 technique makes it difficult to attain accurate needle insertion.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>In this study, we developed a robot\u2010assisted system to improve the precision of needle insertion during lumbar puncture. The manipulator can perform orientation, insertion and rotation of the needle as well as linear motion at targeted locations. We focused on accurately sensing the puncture forces during the needle insertion phase and evaluated the piercing force perception of the operator.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The main features of the robot, such as backdrivable joints, physical human\u2013robot cooperation, actuation system with low friction and remote centre of motion mechanism, can enhance overall safety.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>Experimental results using a lumbar puncture phantom proved that the manipulator could position the needle tip at targeted locations with good accuracy. The data obtained from the test system also showed that the loss of resistance and peak forces for stiff tissues were accurately perceived by the operator.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.2226","type":"journal-article","created":{"date-parts":[[2021,1,16]],"date-time":"2021-01-16T03:21:45Z","timestamp":1610767305000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["A novel manipulator with needle insertion forces feedback for robot\u2010assisted lumbar puncture"],"prefix":"10.1002","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2420-3104","authenticated-orcid":false,"given":"Hongbing","family":"Li","sequence":"first","affiliation":[{"name":"Department of Instrument Science and Engineering Shanghai Jiao Tong University Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiyun","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Instrument Science and Engineering Shanghai Jiao Tong University Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuling","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Instrument Science and Engineering Shanghai Jiao Tong University Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Hematology and Oncology Shanghai Children's Medical Center Shanghai Jiao Tong University School of Medicine Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,2,16]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00415-012-6413-x"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1182\/blood-2012-05-378943"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1097\/MPH.0b013e31829bc92f"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvir.2019.10.012"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bbmt.2019.12.396"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1053\/jpon.2001.28454"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1001\/archneurpsyc.1926.02200280028003"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0959-289X(98)80042-3"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1080\/08941939.2019.1614698"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2864608"},{"key":"e_1_2_8_12_1","doi-asserted-by":"crossref","unstructured":"MoZ XuW BroderickN.Epidural space identification exploration by a fiber optic tip\u2010force sensing needle.Paper presented at: International Conference on Mechatronic and Machine Vision in Practice November 2017:21\u201023; Auckland New Zealand.","DOI":"10.1109\/M2VIP.2017.8211478"},{"key":"e_1_2_8_13_1","doi-asserted-by":"crossref","unstructured":"KosekiY LorenzoDD ChinzeiK OkamuraAM.Coaxial needle insertion assistant for epidural puncture.Paper presented at: IEEE\/RSJ International Conference on Intelligent Robots and Systems.2011:2584\u20102589; San Francisco CA USA.","DOI":"10.1109\/IROS.2011.6095144"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2044.1997.93-az0093.x"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2236091"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1186\/s12909-016-0722-1"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.spinee.2017.05.016"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.wneu.2017.10.093"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.acra.2017.08.002"},{"issue":"2","key":"e_1_2_8_20_1","first-page":"A13","article-title":"G31 Reducing the trauma of lumbar punctures using simulation","volume":"104","author":"Watterson C","year":"2019","journal-title":"Archives Dis Child"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12028-019-00790-9"},{"key":"e_1_2_8_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jemermed.2012.09.149"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2013.03.003"},{"key":"e_1_2_8_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2006.07.003"},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/4233.826856"},{"key":"e_1_2_8_26_1","unstructured":"VaughanN DubeyVN WeeMYK IsaacsR.Haptic interface on measured data for epidural simulation.Paper presented at: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. 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