======Force Sensing Forceps for Cochlear Implant Surgery======
**Last updated: 04/25/2022**


======Summary======
There are two deliverables in the project. 
Forceps: The project aims to design a prototype for testing the force of the forceps against a ground truth to verify the accuracy of the forces measured which will help in the Cochlear Implant surgical procedures.

  * **Students:** Ajay Gawade
  * **Mentor(s):** Deepa Galaiya, Anna Goodridge, Justin Kim
  * **Forceps:**
{{ :courses:456:2022:projects:456-2022-30:forceps.jpg?400 |}}

======Background, Specific Aims, and Significance======

{{ :courses:456:2022:projects:456-2022-30:cochlear-implant.png?600 |}}

A cochlear implant is a small electronic device that electrically stimulates the cochlear nerve
(nerve for hearing). The implant has external and internal parts. The external part sits behind
the ear. It picks up sounds with a microphone. It then processes the sound and transmits it to
the internal part of the implant. However, currently, there are no established methods for
guidance, monitoring, or feedback to the surgeon and the implant insertion process is entirely
dependent on surgeon dexterity. [2]. Studies show that overall 17.6% trauma rate which
implies that CI (Cochlear Implantation) insertion could be improved with more accurate and
consistent electrode insertion.[3]

With regards to robot-assisted surgery (RAS), studies show patient outcomes are associated,
in part, the number of RAS procedures a surgeon performs translates into a smooth operation
with [4]:

1. Decreased operation time 
2. Fewer chances of hemorrhage
3. More flexibility in procedures
4. 3-D and magnified image of the surgical site
5. Greater precision due to elimination of surgeon’s hand tremor

The goal of the project is to design a prototype for testing the force-sensing forceps that can
measure force, thereby enabling successful and safe insertion procedures which will
eventually, reduce the trauma rates.


The goal of the semester is
1. To design and develop a fully working prototype and testing
2. Calibration and Testing of the new Force/Torque sensor
3. Experimental methods to create calibration procedures to validate the sensor data
concerning ground truth.


======Deliverables======
 
  * **Minimum:** (By April 4)
    - Improved design of the forceps   
    - Complete prototype integration 
    

  * **Expected:** (By April 27)
    - Sensor data collection and validation
    - Calculating actual forces using jaw and spring load
    - Validation of the ground truth data

  * **Maximum:** (By May 15)
    - More testing of experimentation under different conditions
    - Calibration procedure
    - Report of calibration data and analysis
    - Documentation for Knowledge Transfer


======Technical Approach======
The forceps are attached to a Force/Torque sensor “ WITTENSTEIN™ Hex21
6-Axis Force/Torque Sensor ” which collects data in real-time.
{{ :courses:456:2022:projects:456-2022-30:sensor.jpg?400 |}}

Generated data is validated through many experimental methods such as calculating
spring constants of Jaws and the springs using the Force equation,
F = -k . x (displacement of the spring/jaws) in Newtons

{{ :courses:456:2022:projects:456-2022-30:force_equation.jpg?200 |}}
======Dependencies======
{{:courses:456:2022:projects:456-2022-30:dependencies.jpg?600|}}
======Milestones and Status ======
  - Milestone name:  Sensor Data Validation
    * Planned Date: 03/29
    * Expected Date: 04/16
    * Status: Completed (Sensor setbacks)
  - Milestone name:  Experimental Design
    * Planned Date: 04/26
    * Expected Date: 04/26
    * Status: Completed
  - Milestone name:  Data Comparison
    * Planned Date: 05/11
    * Expected Date: 05/11
    * Status: In progress

======Reports and presentations======

  * Project Plan
    * {{ :courses:456:2022:projects:456-2022-30:cis_2_presentation.pdf | Project Presentation}}
    * {{ :courses:456:2022:projects:456-2022-30:plan_proposal_ajay_gawade.pdf | Project plan proposal}}
  * Project Background Reading 
    * {{ :courses:456:2022:projects:456-2022-30:background_report.pdf | Background Reading}}
  * Project Checkpoint
    * {{ :courses:456:2022:projects:456-2022-30:checkpoint_1.pdf | Project checkpoint presentation 1}}
  * Background Reading Presentations
    * {{ :courses:456:2022:projects:456-2022-30:background_reading_paper_presentation.pdf |background_reading_paper_presentation}}
  * Paper Seminar Presentations
    * here provide links to all seminar presentations
  * Project Final Presentation
    * {{ :courses:456:2022:projects:456-2022-30:cis_2_project30_poster_template.pdf |}}
  * Project Final Report
    * {{{{ :courses:456:2022:projects:456-2022-30:final_report_project_30_ajay.pdf|Final Report}}
* Project Poster
    * {{{{ :courses:456:2022:projects:456-2022-30:cis_2_project30_poster_template.pdf | Final Poster}}

======Project Bibliography=======
List of references:

1. Radiological and histological evidence of cochlear implant insertion trauma in adult patients.
Cochlear Implants
{{ :courses:456:2022:projects:456-2022-30:systematic_review_radiological_and_histological_evidence_of_cochlear_implant_insertion_trauma_in_adult_patients.pdf |}}

2. {{ :courses:456:2022:projects:456-2022-30:force_threshold.pdf |Force Perception Thresholds in Cochlear Implantation Surgery}}

3. Project Proposal by Justin Kim (CIS 2, Spring 2020)
{{ :courses:456:2022:projects:456-2022-30:cochlear_implant_forceps_project_proposal_.pdf |}}

4. Cochlear Implant insertion forces
{{ :courses:456:2022:projects:456-2022-30:cochlear_implant_insertion_forces.pdf |  -Paper}}

5. Calibration Procedure
{{ :courses:456:2022:projects:456-2022-30:0353.pdf |}}
======Other Resources and Project Files and Updates======
Project Data and Media files:

1. {{ :courses:456:2022:projects:456-2022-30:force_sensing_forceps.pdf |}}

2. {{ :courses:456:2022:projects:456-2022-30:force_sensing_forceps_1.4_.pdf |}}

3. {{ :courses:456:2022:projects:456-2022-30:force_sensing_forceps_1.5_.pdf |}}