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DESIGN OF AN MRI-COMPATIBLE ROBOT FOR IMAGE-GUIDED NEEDLE INSERTION PROCEDURES USING ACTIVE TENDON-DRIVEN NEEDLES 一种mri兼容机器人的设计,用于使用主动肌腱驱动的针头进行图像引导的针头插入过程
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-2247
Samuel Lafreniere, Olivia Lee Sprouse, Ryan Justin Padilla, B. Konh
Visualization and tip tracking of needles inside the body in needle-based interventions are usually challenging using conventional medical imaging modalities such as ultrasound and CT. MRI provides an amazing imaging feedback for the operator to target lesions with a great confidence. However, the needle should be operated teleoperatively using a robot interface. This work introduces a novel design of an MRI-compatible (slave) robot for image-guided needle insertions. The robot is designed with MRI-compatible materials and actuators to enable manual initial positioning inside the MRI bore prior to operation, as well as robotic teleoperation (insertion and actuation) of an active tendon-driven needle towards targets. The range of motion is shown to be appropriate for transperineal prostate interventions such as prostate biopsy and brachytherapy.
使用传统的医学成像方式,如超声和CT,在基于针头的干预中,对体内针头的可视化和尖端跟踪通常具有挑战性。MRI为操作人员提供了惊人的成像反馈,使他们能够充满信心地定位病灶。然而,针应该使用机器人接口进行远程操作。这项工作介绍了一种用于图像引导针头插入的mri兼容(从)机器人的新设计。该机器人设计了与MRI兼容的材料和致动器,可以在手术前在MRI孔内手动初始定位,以及机器人远程操作(插入和驱动)一个主动肌腱驱动的针指向目标。经会阴前列腺干预,如前列腺活检和近距离放射治疗,其活动范围是合适的。
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引用次数: 0
A LIGHTWEIGHT, FOLDABLE MOTORIZED TRANSPORT CHAIR TO EASE CAREGIVER BURDEN 一种轻便、可折叠的电动运输椅,减轻护理人员的负担
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-6138
Kimberly Gustafson, W. Durfee, Gregory O. Voss, Andrew H Hansen, G. Goldish
As the population ages, the number of caregivers in the Unites States is growing rapidly. The burden on these caregivers is exacerbated by steadily increasing obesity rates, which are highest in adults aged 50 to 70. The Caregiver-Assist Transport Chair (CATC) is designed to address the difficulty many caregivers experience assisting in the transportation of moderate to low mobility care recipients outside of the home for appointments, community engagements, or fresh air excursions. It is not uncommon for the caregiver to be elderly or of a smaller build than the care recipient, increasing the difficulty of pushing a transport chair for extended distances or across uneven or unlevel terrain. The CATC is equipped with intelligent motorized wheels that engage in the forward or reverse directions to maintain a consistently low effort required from the caregiver, independent of the weight of the care recipient. The chair assists on uphill terrain and slows on downhill descents to match the walking speed of the caregiver. In addition, the chair has a drop-down footplate mechanism that eliminates the need for the legs of the care recipient to be lifted onto foot pedals once seated. This footplate also serves as a brake to eliminate safety concerns associated with the chair rolling back as the user transitions between sitting and standing. While the CATC contains motorized elements, unlike a typical motorized wheelchair, it is lightweight, foldable, and easy to maneuver in and out of a vehicle.
随着人口老龄化,美国护理人员的数量正在迅速增长。肥胖率的稳步上升加剧了这些照顾者的负担,肥胖率在50至70岁的成年人中最高。护理人员辅助运输椅(CATC)的设计是为了解决许多护理人员在帮助中低行动能力的护理对象外出约会、社区活动或新鲜空气游览时遇到的困难。通常情况下,照顾者比被照顾者年长或身材矮小,这增加了推运输椅长距离或穿越不平坦或不平坦地形的难度。CATC配备了智能电动车轮,可以进行正向或反向操作,从而保持护理人员的低工作量,与护理对象的体重无关。这把椅子在上坡时起到辅助作用,在下坡时减慢速度,以配合护理者的行走速度。此外,椅子有一个下拉式脚踏板机构,这样就不需要在坐下后将被护理者的腿抬到脚踏板上。这个踏板还可以作为刹车,以消除用户在坐姿和站立之间转换时椅子向后滚动带来的安全问题。虽然CATC包含机动元素,但与典型的机动轮椅不同,它重量轻,可折叠,易于进出车辆。
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引用次数: 0
A CASE STUDY ON ACTIVATION LEVEL OF ROTATOR CUFF MUSCLES USING ELECTROMYOGRAPHY AND ASSOCIATED MUSCLE FORCES 应用肌电图和相关肌肉力量研究肩袖肌的激活水平
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-7918
Allyson Mitchell, AmirHossein Majidirad, G. Pujalte
Rotator cuff tears are among the most common shoulder injuries, making them an attractive topic of study. Yet, there is a lack of clear understanding of attributes associated with deep and superficial muscles when it is intended to study the recovery progress after rehabilitation. Through a systematic approach, this project investigates the activation of rotator cuff muscles using surface electromyography (sEMG) sensors. The team developed a strategic plan to investigate the precision of the NORAXON technology that is utilized in this study to ensure that it is capable of capturing small variations in shoulder motion. This is followed by a reliability analysis to ascertain reproducibility of the experiment. The levels of muscle activities for superficial and deep muscles are monitored to explore the impact of traditionally prescribed arm movements used for the rehabilitation of rotator cuff injuries. Furthermore, an analysis of forces generated in the muscles is done to provide better insight into the activation levels of rotator cuff muscles. The results were promising, with a competent technology and acceptable correlation associated with muscle activities across all subjects. Four common arm movements were studied; scaption generated a significant response in the targeted muscles, particularly of the supraspinatus. Results were conclusive across all subjects, and simulation also supported the experiment showing high activation levels for the supraspinatus. The teres minor also showed a significant contribution when performing external rotation at 90⁰ abduction. The outcome of this study is significant for this ongoing project as it identifies the most impactful exercises that ensure targeted muscles are being triggered. It also lays the groundwork for expanding the project to a clinical study focusing on the most effective arm movements in order to improve rehabilitation process and reduce pertinent cost.
肩袖撕裂是最常见的肩部损伤之一,使其成为一个有吸引力的研究课题。然而,在研究康复后的恢复进展时,对深肌和浅肌的相关属性缺乏清晰的认识。通过系统的方法,本项目研究了使用表面肌电图(sEMG)传感器的肩袖肌肉的激活。该团队制定了一项战略计划,以调查NORAXON技术的精度,该技术在本研究中使用,以确保它能够捕捉肩部运动的微小变化。随后进行可靠性分析,以确定实验的可重复性。监测浅表和深层肌肉的肌肉活动水平,以探索用于肩袖损伤康复的传统处方手臂运动的影响。此外,对肌肉中产生的力进行分析,以更好地了解肩袖肌肉的激活水平。结果是有希望的,在所有的受试者中,都有一个合格的技术和可接受的与肌肉活动相关的相关性。研究了四种常见的手臂动作;绞杀在目标肌肉中产生了显著的反应,特别是冈上肌。所有受试者的结果都是决定性的,模拟也支持冈上肌高激活水平的实验。在进行90⁰外展时,小圆肌也显示出重要的贡献。这项研究的结果对这个正在进行的项目很重要,因为它确定了最有效的运动,确保目标肌肉被触发。这也为将该项目扩展到临床研究奠定了基础,重点关注最有效的手臂运动,以改善康复过程并降低相关成本。
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引用次数: 0
DESIGN OF A CUSTOM SENSING AND ACTUATING CUSHION FOR USE IN PRESSURE RELIEF IN WHEELCHAIR USERS 设计一种用于轮椅使用者减压的定制传感和驱动垫
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-6305
Jason Robinson, Vishakh H. Shewalkar, Isaiah Rigo, Asaiah Rock, Lucy Cinnamon, Daniella Chapman-Rienstra, Jooyoung Hong, Joohyung Kim, Holly M. Golecki
Pressure sores impact a wide range of individuals including wheelchair users. Solutions to address pressure sore prevention are limited. This work is aimed at developing devices to prevent pressure sores in wheelchair users with limited mobility or sensation. Informed by stakeholder input, we present a dynamic cushion design to sense areas of high pressure and actuate to relieve that pressure. We experimented using resistive sensors in a grid formation to map pressure across the seat. To relieve pressure, we propose a grid of custom pneumatic bladders to inflate in response to sensor thresholds. Bladders will inflate to redistribute pressure. After experimenting with a variety of possible bladder geometries, we selected torus-shaped actuators to optimize durability, stability, and increase breathability in the final design. Given the ability to fabricate custom bladders and program controls, the proposed device can be tailored to users’ specific needs. While static cushion solutions exist on the market, our custom design allows users to dynamically alleviate pressure eliminated the need to constantly readjust position and ultimately reduce time spent treating sores.
压疮影响广泛的个人,包括轮椅使用者。解决压疮预防的方法是有限的。这项工作的目的是开发设备,以防止压疮的轮椅使用者的行动不便或感觉有限。根据利益相关者的意见,我们提出了一种动态缓冲设计,以感知高压区域并启动以缓解该压力。我们尝试用电阻传感器在一个网格中绘制整个座椅的压力图。为了减轻压力,我们提出了一个定制的充气膀胱网格,以响应传感器阈值进行充气。膀胱会膨胀以重新分配压力。在试验了多种可能的气囊几何形状后,我们选择了环形驱动器,以优化最终设计的耐用性、稳定性和透气性。考虑到能够制造定制膀胱和程序控制,提议的设备可以根据用户的特定需求进行定制。虽然市场上存在静态缓冲解决方案,但我们的定制设计允许用户动态减轻压力,从而消除了不断调整位置的需要,最终减少了治疗疮的时间。
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引用次数: 0
A COMPARISON OF THE PRESSURE FAILURE OF TWO COLORECTAL ANASTAMOSES STAPLING TECHNIQUES 两种结直肠吻合器加压失败的比较
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-8985
Youssef Fahmy, M. Trabia, Brian Ward, L. Gallup, Whitney Elks
Anastomotic leakage (AL) is a serious complication that effects thousands of patients undergoing colorectal surgery annually. Stapling is generally used to perform anastomoses. Two common anastomosis techniques are the End to End (EE), and End to Side (ES). Currently there is no experimental approach to compare the effectiveness of these two techniques against AL. This work proposes an ex-vivo experimental setup of burst testing of anastomoses using porcine tissues. Twelve pigs were used with three specimens harvested from the colon of each of them: EE, ES, and a control specimen. Failure of the anastomoses were monitored, and the corresponding leakage pressures were recorded. Preliminary results indicated that ES led to higher strength than EE.
吻合口瘘(AL)是每年影响成千上万结直肠手术患者的严重并发症。吻合器通常用于吻合术。两种常见的吻合技术是端到端(EE)和端到侧(ES)。目前还没有实验方法来比较这两种技术对AL的有效性。本研究提出了一种利用猪组织进行吻合口爆裂测试的离体实验装置。使用12头猪,每头猪结肠取3个标本:EE、ES和一个对照标本。监测吻合口失效情况,记录相应的泄漏压力。初步结果表明,ES的强度高于EE。
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引用次数: 0
CONVECTION ENHANCED THERMO-CHEMOTHERAPY CATHETER SYSTEM: PRE-510(K) CLEARANCE PROTOCOL DEVELOPMENT: FLUID PERFORMANCE TESTING 对流增强热化疗导管系统:pre-510 (k)清除协议开发:流体性能测试
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-3181
Brianna E. Morales, Christopher G. Rylander
Our lab is developing a novel device, the convection-enhanced thermo-chemotherapy catheter system (CETCS), to improve drug dispersal around a glioblastoma. To help prepare the device for clinical trials, we were advised to first prepare and receive 510(k)-clearance. The 510(k)-clearance process includes proving the novel device is substantially equivalent to a previously cleared predicate device. For the CETCS device, we have identified the Cleveland Multiport Catheter (CMC) as our predicate device. In this work, we test infusion pump flow rate, high-pressure flow rate, and microneedle tip deflection; each with respect to infusion and aspiration. The CMC’s 510(k) summary sheet provided guidelines for the test protocols to follow. If the CMC’s 510(k) summary did not state a metric, we set the metric based on the CETCS device specifications. Replicating or exceeding the threshold passing criteria set by the CMC device or the CETCS specifications demonstrates that CETCS is substantially equivalent to the predicate device for those specific metrics.
我们的实验室正在开发一种新型设备,对流增强热化疗导管系统(CETCS),以改善胶质母细胞瘤周围的药物分散。为了帮助器械准备临床试验,我们被建议首先准备并获得510(k)许可。510(k)批准过程包括证明新设备实质上等同于先前批准的谓词设备。对于CETCS设备,我们已经确定了克利夫兰多端口导管(CMC)作为我们的首选设备。在这项工作中,我们测试了输液泵流量、高压流量和微针尖端挠度;关于输注和抽吸。CMC的510(k)摘要表提供了测试方案遵循的指导方针。如果CMC的510(k)摘要没有说明度量,我们根据CETCS设备规格设置度量。复制或超过CMC设备或CETCS规范设置的通过标准的阈值,表明CETCS实质上等同于这些特定指标的谓词设备。
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引用次数: 0
ITINERARY PREDICTIVE ANALYTICS: AI BASED SOFTWARE AS A MEDICAL DEVICE TO PREDICT PATIENTS’ FIRST VISIT ITINERARY FOR HEALTHCARE ADMINISTRATION 行程预测分析:基于人工智能的软件作为一种医疗设备,用于预测患者的首次就诊行程,以供医疗管理部门使用
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-1597
S. Damani, K. Gopalakrishnan, Keirthana Aedma, Pratyusha Muddaloor, V. Chandrasekhara, Alexander J. Ryu, Christopher A. Aakre, S. P. Arunachalam
Majority of hospitals still utilize manual methods for patient scheduling and predicting future appointments, resulting in longer wait times, hospital burnout and inadequate use of resources. A variety of avenues have been explored, including priority patient routing, tele-health, neural networks for improving ER efficiency, predicting no-shows, consultation duration variations, and optimizing operating room utilization. Addressing this issue, a study was conducted using 700 pre-visit notes of pancreatic patients to determine the requirement of endoscopic or biliary procedure. Through natural language processing and traditional or transfer learning algorithms, data could directly be sent to EPIC for nurses to assess in further decision making. Performance of the models was above average with the transfer learning method outperforming the traditional method. Although limited by less dataset and fewer circumstances to test the models on, the results exposed potential for future development with the possibility of patients reporting their chief concerns, in turn analyzed by algorithms, ultimately creating a smooth and effective patient itinerary.
大多数医院仍然使用人工方法来安排病人日程和预测未来的预约,导致等待时间更长,医院倦怠和资源利用不足。已经探索了各种途径,包括优先患者路径,远程医疗,用于提高急诊室效率的神经网络,预测未就诊,会诊时间变化以及优化手术室利用率。针对这一问题,一项研究使用了700例胰腺患者的就诊前记录来确定内镜或胆道手术的需求。通过自然语言处理和传统或迁移学习算法,数据可以直接发送到EPIC,供护士在进一步决策时进行评估。模型的性能均高于平均水平,迁移学习方法优于传统方法。尽管受限于较少的数据集和较少的环境来测试模型,但结果显示了未来发展的潜力,患者可能会报告他们的主要问题,进而通过算法进行分析,最终创建一个顺利有效的患者行程。
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引用次数: 0
HAND MOVEMENT GLOVE FOR CHILD WITH TITINOPATHY 为患有视网膜病变的儿童准备的手部运动手套
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-9287
Hannah Bass, C. Foster, Akshaya Santhanaraj, Shourya Kumar
Patients with titinopathy or hand paralysis often lack quality, low cost therapeutic tools to aid in gaining hand strength and range of motion. As a result, our team sought to develop a way to increase flexion and passive motion in the hand of a patient with titinopathy in order to gain functionality. This paper outlines the design and development of a novel therapeutic glove for a 4 year old boy with a neuromuscular disease that prevents him from flexing the two distal joints of his fingers. The team has developed a low-cost hand movement glove (HMG) to be used as a supplement to traditional physical therapy. The device utilizes a motor-cable system secured to each finger, allowing for independent and synchronized flexion of each finger. Phase I of prototyping resulted in a working model to assess the finger movement mechanism and overall wearability of the device. Phase II utilized an Arduino Uno microcontroller, circuit switch, PCA9685 driver board, micro servo motors, a cotton woven glove, and 3-D printed components to characterize a more robust model allowing independent flexion of each finger. Initial testing has proven the device’s ability to achieve physiologically relevant degrees of flexion in each finger. Upon completion of further testing, we anticipate this device having a profound impact as an additional tool utilized in the patient’s physical therapy regimen to allow for regained flexion at both proximal and distal interphalangeal joints.
患有视网膜病变或手部麻痹的患者通常缺乏高质量、低成本的治疗工具来帮助他们增强手部力量和活动范围。因此,我们的团队试图开发一种方法来增加患者的屈曲和被动运动的手,以获得功能。本文概述了一种新型治疗手套的设计和开发,用于一名患有神经肌肉疾病的4岁男孩,该疾病使他无法弯曲手指的两个远端关节。该团队开发了一种低成本的手部运动手套(HMG),作为传统物理治疗的补充。该设备利用固定在每个手指上的电机电缆系统,允许每个手指独立和同步弯曲。原型设计的第一阶段产生了一个工作模型,以评估手指运动机制和设备的整体可穿戴性。第二阶段使用Arduino Uno微控制器、电路开关、PCA9685驱动板、微型伺服电机、棉织手套和3d打印组件来表征一个更强大的模型,允许每个手指独立弯曲。最初的测试已经证明,该设备能够在每个手指上实现生理上相关的屈曲程度。在完成进一步的测试后,我们预计该装置将作为患者物理治疗方案中使用的额外工具产生深远的影响,以允许近端和远端指间关节恢复屈曲。
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引用次数: 0
ARRHYTHMIC SUDDEN DEATH SURVIVAL PREDICTION MODEL FOR HYPERTROPHIC CARDIOMYOPATHY PATIENTS: AN INTERPRETABLE MACHINE LEARNING ANALYSIS 肥厚性心肌病患者心律失常猝死生存预测模型:可解释的机器学习分析
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-2989
N. Farahani, Moein Enayati, Andredi Pumarejo, Mateo Alzate Aguirre, Christopher G. Scott, Konstantinos C. Siontis, Martijn Bos, J. Geske, M. Ackerman, Adelaide M. Arruda-Olson
Hypertrophic Cardiomyopathy (HCM) is an inheritable heart disease with the highest rate of sudden cardiac death (SCD) in young adults. Implantable Cardioverter Defibrillator (ICD) therapy is recommended for HCM patients at high risk for SCD. Reviewing the recent clinical literature revealed the potential to improve the selection of candidates for ICD implantation. The current study uses information extracted from echocardiography reports to evaluate HCM patients with ICD and aims to provide a comparative insight into patients who benefited the most from the device therapy, including shock and anti-tachycardia pacing (ATP). The proposed interpretable machine learning approach has used the XGboost algorithm. The model’s performance was considered satisfactory, as evidenced by an accuracy score of 81% and an area under the receiver operating characteristic curve (AUC) value of 69% and SHapley Additive exPlanations (SHAP) identified common properties of HCM patients in each category and provided high-level reasoning and foundation for a clinical decision support tool.
肥厚性心肌病(HCM)是一种遗传性心脏病,在年轻人中心脏性猝死(SCD)的发生率最高。植入式心律转复除颤器(ICD)治疗推荐HCM患者在SCD的高风险。回顾最近的临床文献揭示了改善ICD植入候选人选择的潜力。目前的研究使用超声心动图报告中提取的信息来评估HCM合并ICD患者,旨在提供从器械治疗(包括休克和抗心动过速起搏(ATP))中获益最多的患者的比较见解。提出的可解释机器学习方法使用了XGboost算法。模型的准确性评分为81%,受试者工作特征曲线下面积(AUC)值为69%,SHapley加性解释(SHAP)识别了HCM患者在每个类别中的共同特征,为临床决策支持工具提供了高级推理和基础。
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引用次数: 0
EXTRACELLULAR FLOW PATTERNS SURROUNDING A BREAST CANCER CELL DURING TRANSPORT IN A MICROCHANNEL 乳腺癌细胞在微通道中运输过程中的细胞外流动模式
Pub Date : 2023-04-17 DOI: 10.1115/dmd2023-7947
Lahcen Akerkouch, Trung Le, Amanda Haage, Aaron Vanyo
We performed the transport of a breast cancer cell (MB231-TGFb) in a microvessel using high-resolution simulations. Using open-source imaging software Slicer3D and Meshmixer, the 3D surface mesh forming the cell membrane was reconstructed from confocal microscopic images. The Dissipative Particle Dynamics method is used to model the cell membrane. The extracellular fluid flow is modeled with the Immersed Boundary Method to solve the governing equations of the blood plasma. The unsteady flow is applied at the inlet of the microchannel with an oscillatory pattern. Our results showed that the extracellular flow patterns are highly dependent on the waveform profile. The oscillatory flow showed the creation of vortices that influence the cellular deformations in the microchannel. These results could have implications on the destination of the cancer cells during transport in physiological flows.
我们使用高分辨率模拟在微血管中进行乳腺癌细胞(MB231-TGFb)的运输。利用开源成像软件Slicer3D和Meshmixer,从共聚焦显微图像中重构形成细胞膜的三维表面网格。采用耗散粒子动力学方法对细胞膜进行建模。采用浸入边界法对胞外液流动进行建模,求解血浆的控制方程。非定常流以振荡形式施加于微通道入口。我们的结果表明,细胞外流动模式高度依赖于波形剖面。振荡流动显示了影响微通道中细胞变形的漩涡的产生。这些结果可能对癌细胞在生理流动中运输的目的地有影响。
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引用次数: 0
期刊
2023 Design of Medical Devices Conference
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