{"doi":"10.1109/tbme.2023.3290919","title":"Design and Evaluation of Haptic Guidance in Ultrasound-Based Needle-Insertion Procedures","abstract":"OBJECTIVE: This article presents two haptic guidance systems designed to help a clinician keep an ultrasound probe steady when completing ultrasound-assisted needle insertion tasks. These procedures demand spatial reasoning and hand-eye coordination because the clinician must align a needle with the ultrasound probe and extrapolate the needle trajectory using only a 2D ultrasound image. Past research has shown that visual guidance helps the clinician align the needle, but does not help the clinician keep the ultrasound probe steady, sometimes resulting in a failed procedure. METHODS: We created two separate haptic guidance systems to provide feedback if the user tilts the ultrasound probe away from the desired setpoint using (1) vibrotactile stimulation provided by a voice coil motor or (2) distributed tactile pressure provided by a pneumatic mechanism. RESULTS: Both systems significantly reduced probe deviation and correction time to errors during a needle insertion task. We also tested the two feedback systems in a more clinically relevant setup and showed that the perceptibility of the feedback was not affected by the addition of a sterile bag placed over the actuators and gloves worn by the user. CONCLUSION: These studies show that both types of haptic feedback are promising for helping the user keep the ultrasound probe steady during ultrasound-assisted needle insertion tasks. Survey results indicated that users preferred the pneumatic system over the vibrotactile system. SIGNIFICANCE: Haptic feedback may improve user performance in ultrasound-based needle-insertion procedures and shows promise in training for needle-insertion tasks and other medical procedures where guidance is required.","journal":"IEEE Transactions on Biomedical Engineering","year":2023,"id":354939,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":6,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9547,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2023-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":1102434,"name":"Cara M. Nunez","orcid":"0000-0003-3132-393X","position":1,"is_corresponding":false},{"id":1102435,"name":"Philipp J. Stolka","orcid":"0000-0002-8364-042X","position":2,"is_corresponding":false},{"id":567664,"name":"Allison M. Okamura","orcid":"0000-0002-6912-1666","position":3,"is_corresponding":false},{"id":1102436,"name":"Heather Culbertson","orcid":"0000-0002-9187-2706","position":4,"is_corresponding":false},{"id":983627,"name":"Michael Raitor","orcid":"0000-0001-6712-142X","position":0,"is_corresponding":true}],"reference_count":43,"raw_metadata":null,"created_at":"2026-07-19T01:13:11.976628Z","pmid":"37384470","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}