This article introduces the design, methods, and use cases of a novel Gravity Augmented Additive Manufacturing (GAAM) approach to Fused Filament Fabrication (FFF) using a novel seven degree of freedom (DoF) delta robotic system. Capable of rotating parts and approaching the workpiece with the deposition head from user-specified or algorithm-determined angles, this system allows users the design freedom to create objects using less support material, while improving the performance of 3D printed components. Not only is time saved by reducing (or eliminating) support material, but components may be able to resist higher loading. Additionally, this system and the methods of operation described below allow users to create objects that are otherwise impossible or impractical to construct using traditional three axis FFF 3D printing, while maintaining compatibility with existing G-code preparation techniques. Finally, this more flexible 3D printing system has advanced applications in generating patient specific objects, which may benefit from more highly specialized toolpaths and design freedom afforded by this system.
{"title":"Gravity Augmented Fused Filament Fabrication Additive Manufacturing","authors":"J. Huss, A. Erdman","doi":"10.1115/1.4056909","DOIUrl":"https://doi.org/10.1115/1.4056909","url":null,"abstract":"\u0000 This article introduces the design, methods, and use cases of a novel Gravity Augmented Additive Manufacturing (GAAM) approach to Fused Filament Fabrication (FFF) using a novel seven degree of freedom (DoF) delta robotic system. Capable of rotating parts and approaching the workpiece with the deposition head from user-specified or algorithm-determined angles, this system allows users the design freedom to create objects using less support material, while improving the performance of 3D printed components. Not only is time saved by reducing (or eliminating) support material, but components may be able to resist higher loading. Additionally, this system and the methods of operation described below allow users to create objects that are otherwise impossible or impractical to construct using traditional three axis FFF 3D printing, while maintaining compatibility with existing G-code preparation techniques. Finally, this more flexible 3D printing system has advanced applications in generating patient specific objects, which may benefit from more highly specialized toolpaths and design freedom afforded by this system.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43599761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, a cable-driven puncturing surgery robot named CPSR is proposed for soft needle. The cable-driven mechanism has lower mass, smaller dimension and smooth transmission. The motor driving the rotational joints is separated using cable which strengthen the dynamic performance of the robot. A decoupling mechanism based on movable pulley is also proposed to reduce the transmission error. Transmission error of cable-driven mechanism are also analysed to improve the control accuracy. The simulation of transmission error is completed to optimize the design parameters of cable-driven mechanism. In puncturing experiments, the feasibility of the CPSR driving the soft needle using cable-based mechanism is validated. Also the insertion error less than 0.7 mm and repeatability less than 2.5 mm are achieved. Finally the reasons limiting the accuracy and corresponding solutions are discussed. In the future research, the shape sensor will be fabricated using optic fiber and mounted on the slim needle which is helpful to complete automated operations.
{"title":"Optimal Design and Experiment of Cable-Driven Puncturing Surgery Robot for Soft Needle","authors":"Jihua Li, Qi Jiang","doi":"10.1115/1.4056865","DOIUrl":"https://doi.org/10.1115/1.4056865","url":null,"abstract":"\u0000 In this paper, a cable-driven puncturing surgery robot named CPSR is proposed for soft needle. The cable-driven mechanism has lower mass, smaller dimension and smooth transmission. The motor driving the rotational joints is separated using cable which strengthen the dynamic performance of the robot. A decoupling mechanism based on movable pulley is also proposed to reduce the transmission error. Transmission error of cable-driven mechanism are also analysed to improve the control accuracy. The simulation of transmission error is completed to optimize the design parameters of cable-driven mechanism. In puncturing experiments, the feasibility of the CPSR driving the soft needle using cable-based mechanism is validated. Also the insertion error less than 0.7 mm and repeatability less than 2.5 mm are achieved. Finally the reasons limiting the accuracy and corresponding solutions are discussed. In the future research, the shape sensor will be fabricated using optic fiber and mounted on the slim needle which is helpful to complete automated operations.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":"1 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41596744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Balance perturbations are often used to gain insight into reactive control strategies used to prevent falls. We developed a Perturbation Platform System (PPS) that can induce perturbations in both vertical and angled directions. The PPS was evaluated using human subject testing to verify its function and performance. The final system consisted of two box platforms that can individually perform vertical and angled surface perturbations. Following a perturbation, the system can automatically reset for the next iteration under the weight of the standing participant. The PPS achieves a peak downward acceleration of 4.4 m/s2 during drop events that simulate sudden surface changes. The experimental testing revealed that the perturbation induced a peak limb loading of 280 ± 38 % of body weight (BW) during vertical drops and that participants' center of mass displacements were consistent with previous balance studies evaluating vertical perturbations. The system can be used in a laboratory or clinical setting to better understand balance response and control mechanisms and assist in rehabilitation training to improve balance control and help mitigate the incidence of falls.
{"title":"Development of a Novel Perturbation Platform System for Balance Response Testing and Rehabilitation Interventions","authors":"Corey Pew, Soroosh Sadeh, H. Hsiao, R. Neptune","doi":"10.1115/1.4056831","DOIUrl":"https://doi.org/10.1115/1.4056831","url":null,"abstract":"\u0000 Balance perturbations are often used to gain insight into reactive control strategies used to prevent falls. We developed a Perturbation Platform System (PPS) that can induce perturbations in both vertical and angled directions. The PPS was evaluated using human subject testing to verify its function and performance. The final system consisted of two box platforms that can individually perform vertical and angled surface perturbations. Following a perturbation, the system can automatically reset for the next iteration under the weight of the standing participant. The PPS achieves a peak downward acceleration of 4.4 m/s2 during drop events that simulate sudden surface changes. The experimental testing revealed that the perturbation induced a peak limb loading of 280 ± 38 % of body weight (BW) during vertical drops and that participants' center of mass displacements were consistent with previous balance studies evaluating vertical perturbations. The system can be used in a laboratory or clinical setting to better understand balance response and control mechanisms and assist in rehabilitation training to improve balance control and help mitigate the incidence of falls.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49331652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Atopic dermatitis (AD) is a common chronic multifactorial skin disease that causes skin inflammation owing to defects in the skin barrier, immune dysregulation, or infectious agents. The most common treatment of AD utilizes wet-occlusion therapies to create a protective skin barrier by providing moisture to the epidermis. However, these treatments are suboptimal in managing disease symptoms owing to their limited ability to retain or restore skin hydration and inefficient drug delivery. Currently, there are no effective approaches for treating AD that are specifically designed to improve drug delivery efficacy and skin hydration. This study aims to introduce a new approach of localized drug delivery and facilitate more efficient dermal hydration using hydrogels and elastomers. Herein, we report a simple yet effective bilayer elasto-hydrogel adhesive film (BEHAF) dressing made from an interpenetrating alginate and polyacrylamide (alginate/AAm) hydrogel layer backed by a thin film of polydimethylsiloxane elastomer. In an in vitro hydration study, it was found that the BEHAF dressing enabled efficient retention and delivery of hydration to porcine skin and model epidermis for more than 48 h and showed potential for drug delivery of both hydrophobic and hydrophilic drugs. Furthermore, mechanical testing results indicate that the BEHAF mimics the elastic behavior of human skin and shows good adhesion sensitivity, thereby suggesting biomechanical compatibility and suitability for long-term usage. Overall, the BEHAF dressing may provide a viable vehicle for dermal hydration and drug delivery, thereby improving the efficacy of wet-occlusive therapy for treating AD.
{"title":"Novel Bilayer Elasto-Hydrogel Adhesive Film for Facilitating Wet-Occlusive Therapy for Atopic Dermatitis","authors":"Joshua Pillai, Jonathan Pillai","doi":"10.1115/1.4056833","DOIUrl":"https://doi.org/10.1115/1.4056833","url":null,"abstract":"\u0000 Atopic dermatitis (AD) is a common chronic multifactorial skin disease that causes skin inflammation owing to defects in the skin barrier, immune dysregulation, or infectious agents. The most common treatment of AD utilizes wet-occlusion therapies to create a protective skin barrier by providing moisture to the epidermis. However, these treatments are suboptimal in managing disease symptoms owing to their limited ability to retain or restore skin hydration and inefficient drug delivery. Currently, there are no effective approaches for treating AD that are specifically designed to improve drug delivery efficacy and skin hydration. This study aims to introduce a new approach of localized drug delivery and facilitate more efficient dermal hydration using hydrogels and elastomers. Herein, we report a simple yet effective bilayer elasto-hydrogel adhesive film (BEHAF) dressing made from an interpenetrating alginate and polyacrylamide (alginate/AAm) hydrogel layer backed by a thin film of polydimethylsiloxane elastomer. In an in vitro hydration study, it was found that the BEHAF dressing enabled efficient retention and delivery of hydration to porcine skin and model epidermis for more than 48 h and showed potential for drug delivery of both hydrophobic and hydrophilic drugs. Furthermore, mechanical testing results indicate that the BEHAF mimics the elastic behavior of human skin and shows good adhesion sensitivity, thereby suggesting biomechanical compatibility and suitability for long-term usage. Overall, the BEHAF dressing may provide a viable vehicle for dermal hydration and drug delivery, thereby improving the efficacy of wet-occlusive therapy for treating AD.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43870432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Hrabe, I. Gribovskaja-Rupp, K. Guyton, Muneera R. Kapadia, J. Cromwell
Purpose: For patients undergoing gastrointestinal surgery, postoperative ileus (POI) is difficult to predict and occurs at rates up to 30%. We hypothesized that discrete gastrointestinal acoustic biomarkers correlating to POI development may present in early postoperative hours. To test this hypothesis, we conducted a two-phase investigation to record and analyze intestinal sounds, then prospectively test the feasibility of predicting POI using a noninvasive device trained with an algorithm developed from Phase 1 results. Methods: In Phase 1, a library of intestinal sounds from normal volunteer subjects and patients undergoing intestinal resection were recorded. An acoustic biomarker most correlated with POI was identified and used to develop a predictive algorithm. In Phase 2, an autonomous, wearable device possessing listening and signal processing capability was developed and prospectively tested for prediction of POI in patients undergoing bowel resection. Results: In Phase 1, 30 patients undergoing resection were studied, 9 of whom developed POI, from which an acoustic biomarker was identified and analyzed. In Phase 2, prospective prediction of POI in 75 enrolled subjects undergoing bowel resection was assessed. POI was correctly predicted in 12 of 14 subjects who developed POI; prediction that POI would not occur was correct in 39 of 51 subjects. Sensitivity and specificity were 85.7% and 63.9%, respectively. Negative predictive value and accuracy were 95.1%, and 68%, respectively. Conclusions: Our study demonstrates feasibility of POI prediction based on gastrointestinal sounds using a noninvasive device. This device may help risk stratify patients likely to develop POI.
{"title":"Development of a Noninvasive Device to Predict Postoperative Ileus Using Acoustic Biomarkers","authors":"J. Hrabe, I. Gribovskaja-Rupp, K. Guyton, Muneera R. Kapadia, J. Cromwell","doi":"10.1115/1.4056832","DOIUrl":"https://doi.org/10.1115/1.4056832","url":null,"abstract":"\u0000 Purpose: For patients undergoing gastrointestinal surgery, postoperative ileus (POI) is difficult to predict and occurs at rates up to 30%. We hypothesized that discrete gastrointestinal acoustic biomarkers correlating to POI development may present in early postoperative hours. To test this hypothesis, we conducted a two-phase investigation to record and analyze intestinal sounds, then prospectively test the feasibility of predicting POI using a noninvasive device trained with an algorithm developed from Phase 1 results.\u0000 Methods: In Phase 1, a library of intestinal sounds from normal volunteer subjects and patients undergoing intestinal resection were recorded. An acoustic biomarker most correlated with POI was identified and used to develop a predictive algorithm. In Phase 2, an autonomous, wearable device possessing listening and signal processing capability was developed and prospectively tested for prediction of POI in patients undergoing bowel resection.\u0000 Results: In Phase 1, 30 patients undergoing resection were studied, 9 of whom developed POI, from which an acoustic biomarker was identified and analyzed. In Phase 2, prospective prediction of POI in 75 enrolled subjects undergoing bowel resection was assessed. POI was correctly predicted in 12 of 14 subjects who developed POI; prediction that POI would not occur was correct in 39 of 51 subjects. Sensitivity and specificity were 85.7% and 63.9%, respectively. Negative predictive value and accuracy were 95.1%, and 68%, respectively.\u0000 Conclusions: Our study demonstrates feasibility of POI prediction based on gastrointestinal sounds using a noninvasive device. This device may help risk stratify patients likely to develop POI.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47529162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Background: Delivery of cold, dry air to infants while supporting their breathing can irritate and damage their sensitive nares. In high resource settings, electric heated humidifiers are used to mitigate this problem. In many resource-constrained settings, passive non-electric bubbling humidifiers are instead used. We here compare the efficacy of conventional electric heated humidification, custom-built low cost heated humidification, passive non-electric bubbling humidification and a control (no humidification). Methods: In a hospital patient room (Temperature 22C, humidity 50%), the temperature and humidity delivered to a simulated patient lung via a BC161-10 Fisher Paykel bubble CPAP system were measured with conventional electric heated humidification, low cost custom-built heated humidification, passive bubbling humidification and no humidification. (Delivered CPAP: 5 cm H2O; flow rate varied from 4 to 8 LPM in 2 LPM increments.) Results: As flow rate was varied from 4 - 8 LPM, delivered relative humidity (standard deviation) with each humidifier was as follows: control 10% (3.6%), passive bubbler 44% (3.7%), custom-built humidifier 67% (1.7%), electric heated humidifier 91% (0.86%). Delivered temperature with the electric heated humidifier was 38C (0.21C) vs. 33C for all other setups. Conclusions: Conventional electric heating humidification is more effective than passive bubbling humidification, and the custom-built low cost humidifier provides an intermediate degree of humidification. Through further improvement of this concept with a heated inspiratory circuit and sensor based control of the heating element, an effective yet low cost solution heating humidification could be developed.
{"title":"Comparative Efficacy of Humidifiers for Noninvasive Infant Respiratory Support","authors":"S. John, Casey Hokanson, T. Slusher, A. Bjorklund","doi":"10.1115/1.4056760","DOIUrl":"https://doi.org/10.1115/1.4056760","url":null,"abstract":"\u0000 Background: Delivery of cold, dry air to infants while supporting their breathing can irritate and damage their sensitive nares. In high resource settings, electric heated humidifiers are used to mitigate this problem. In many resource-constrained settings, passive non-electric bubbling humidifiers are instead used. We here compare the efficacy of conventional electric heated humidification, custom-built low cost heated humidification, passive non-electric bubbling humidification and a control (no humidification). Methods: In a hospital patient room (Temperature 22C, humidity 50%), the temperature and humidity delivered to a simulated patient lung via a BC161-10 Fisher Paykel bubble CPAP system were measured with conventional electric heated humidification, low cost custom-built heated humidification, passive bubbling humidification and no humidification. (Delivered CPAP: 5 cm H2O; flow rate varied from 4 to 8 LPM in 2 LPM increments.) Results: As flow rate was varied from 4 - 8 LPM, delivered relative humidity (standard deviation) with each humidifier was as follows: control 10% (3.6%), passive bubbler 44% (3.7%), custom-built humidifier 67% (1.7%), electric heated humidifier 91% (0.86%). Delivered temperature with the electric heated humidifier was 38C (0.21C) vs. 33C for all other setups. Conclusions: Conventional electric heating humidification is more effective than passive bubbling humidification, and the custom-built low cost humidifier provides an intermediate degree of humidification. Through further improvement of this concept with a heated inspiratory circuit and sensor based control of the heating element, an effective yet low cost solution heating humidification could be developed.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2023-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43870811","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The present study focuses on the design and development of a custom frame, using an individual's 3D custom facial scan, to improve the seal of the existing surgical masks. Three participants' facial scans with a wide range of facial dimensions were collected using a 3D hand-held scanner. During design, the contact area between the custom mask frame and the wearer's skin was determined based on an individual's 3D facial shape. To evaluate the effectiveness of the airtight seal, a qualitative fit (smell/taste) test kit and thermal image camera were utilized. When the participants wore the surgical masks without the customized mask frames to securely fit the surgical masks, the participants smelled the saccharine scent from the test kit. However, while wearing the surgical masks fitted with the custom mask frame that held the mask in place, none of the participants could smell the scent. In addition, thermal images showed ambient temperature changes in a surgical mask suggesting air leakage around the boundary of the mask, while the subject was inhaling and exhaling. The thermal images confirmed the effectiveness of the custom frame to block the inflow/outflow of air potentially carrying the virus. The developed custom mask frame will be particularly beneficial for frontline medical staff members who treat patients with infectious viruses transmitted through aerosols as part of their PPE.
{"title":"Development of a Customized Mask Frame Using a 3D Facial Scan for an Airtight Seal for Disposable Surgical Face Masks","authors":"J. Park, M. Mehrubeoglu","doi":"10.1115/1.4056506","DOIUrl":"https://doi.org/10.1115/1.4056506","url":null,"abstract":"\u0000 The present study focuses on the design and development of a custom frame, using an individual's 3D custom facial scan, to improve the seal of the existing surgical masks. Three participants' facial scans with a wide range of facial dimensions were collected using a 3D hand-held scanner. During design, the contact area between the custom mask frame and the wearer's skin was determined based on an individual's 3D facial shape. To evaluate the effectiveness of the airtight seal, a qualitative fit (smell/taste) test kit and thermal image camera were utilized. When the participants wore the surgical masks without the customized mask frames to securely fit the surgical masks, the participants smelled the saccharine scent from the test kit. However, while wearing the surgical masks fitted with the custom mask frame that held the mask in place, none of the participants could smell the scent. In addition, thermal images showed ambient temperature changes in a surgical mask suggesting air leakage around the boundary of the mask, while the subject was inhaling and exhaling. The thermal images confirmed the effectiveness of the custom frame to block the inflow/outflow of air potentially carrying the virus. The developed custom mask frame will be particularly beneficial for frontline medical staff members who treat patients with infectious viruses transmitted through aerosols as part of their PPE.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45595318","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
MRI (Magnetic Resonance Imaging) guided laser interstitial thermal therapy (LITT) is a procedure used for treating glioblastomas and epilepsy lesions in the brain. Current methods for placing LITT ablation probes use straight trajectories. This limits the treatment area, necessitating multiple passes of straight trajectories or risking untreated tumor margins. This work presents a port delivery cannula system (PDCS) to be integrated within existing surgical workflows of LITT, providing off-axis navigation to areas otherwise deemed inaccessible. The design of the PDCS is centered around a two-tube, Nitinol active cannula system, which delivers, places, and retracts a flexible, thermoplastic port along curved trajectories. We present the design of the PDCS system and validate it in free-space, phantom models, and ovine brain trials, with a specific focus on evaluating key parameters of port material characteristics. Eight commercial, biocompatible ports and five custom ports created using additive manufacturing were investigated. Results illustrate that ideal port characteristics include durometers between 85A-95A, a low coefficient of friction, and a wall thickness of approximately 20% of the overall port diameter. Our results also demonstrate that the PDCS system can achieve accuracies under 1mm in phantom models and 2mm in ovine tissue.
{"title":"Design and Validation of a Steerable Port Delivery Cannula System for Laser Interstitial Thermal Therapy","authors":"N. Agwu, E. Leuthardt, J. Gorlewicz","doi":"10.1115/1.4056504","DOIUrl":"https://doi.org/10.1115/1.4056504","url":null,"abstract":"\u0000 MRI (Magnetic Resonance Imaging) guided laser interstitial thermal therapy (LITT) is a procedure used for treating glioblastomas and epilepsy lesions in the brain. Current methods for placing LITT ablation probes use straight trajectories. This limits the treatment area, necessitating multiple passes of straight trajectories or risking untreated tumor margins. This work presents a port delivery cannula system (PDCS) to be integrated within existing surgical workflows of LITT, providing off-axis navigation to areas otherwise deemed inaccessible. The design of the PDCS is centered around a two-tube, Nitinol active cannula system, which delivers, places, and retracts a flexible, thermoplastic port along curved trajectories. We present the design of the PDCS system and validate it in free-space, phantom models, and ovine brain trials, with a specific focus on evaluating key parameters of port material characteristics. Eight commercial, biocompatible ports and five custom ports created using additive manufacturing were investigated. Results illustrate that ideal port characteristics include durometers between 85A-95A, a low coefficient of friction, and a wall thickness of approximately 20% of the overall port diameter. Our results also demonstrate that the PDCS system can achieve accuracies under 1mm in phantom models and 2mm in ovine tissue.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47782414","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Xiao-Peng Han, Hailin Ren, Jingyuan Qi, P. Ben-Tzvi
Cricothyrotomy serves as one of the most efficient surgical interventions when a patient is enduring a Can't Intubate Can't Oxygenate (CICO) scenario. However, medical background and professional training are required for the provider to establish a patent airway successfully. Motivated by robotics applications in search and rescue, this work focuses on applying artificial intelligence techniques on the precise localization of the incision site, the cricothyroid membrane (CTM), of the injured using an RGB-D camera, and the manipulation of a robot arm with reinforcement learning to reach the detected CTM keypoint. In this paper, we further improved the success rate of our previously proposed Hybrid Neural Network (HNNet) in detecting the CTM from 84.3% to 96.6%, yielding an error of less than 5mm in real-world coordinates. In addition, a separate neural network was trained to manipulate a robotic arm for reaching a waypoint with an error of less than 5mm. An integrated system that combines both the perception and the control techniques was built and experimentally validated using a human-size manikin to validate the overall concept of autonomous cricothyrotomy with an RGB-D camera and a robotic manipulator using artificial intelligence.
{"title":"Autonomous Cricothyroid Membrane Detection and Manipulation Using Neural Networks and a Robot Arm for First-Aid Airway Management","authors":"Xiao-Peng Han, Hailin Ren, Jingyuan Qi, P. Ben-Tzvi","doi":"10.1115/1.4056505","DOIUrl":"https://doi.org/10.1115/1.4056505","url":null,"abstract":"\u0000 Cricothyrotomy serves as one of the most efficient surgical interventions when a patient is enduring a Can't Intubate Can't Oxygenate (CICO) scenario. However, medical background and professional training are required for the provider to establish a patent airway successfully. Motivated by robotics applications in search and rescue, this work focuses on applying artificial intelligence techniques on the precise localization of the incision site, the cricothyroid membrane (CTM), of the injured using an RGB-D camera, and the manipulation of a robot arm with reinforcement learning to reach the detected CTM keypoint. In this paper, we further improved the success rate of our previously proposed Hybrid Neural Network (HNNet) in detecting the CTM from 84.3% to 96.6%, yielding an error of less than 5mm in real-world coordinates. In addition, a separate neural network was trained to manipulate a robotic arm for reaching a waypoint with an error of less than 5mm. An integrated system that combines both the perception and the control techniques was built and experimentally validated using a human-size manikin to validate the overall concept of autonomous cricothyrotomy with an RGB-D camera and a robotic manipulator using artificial intelligence.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48808132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cerebral aneurysm disease has extremely high mortality and morbidity, which can be efficiently treated by implanting a vascular stent. However, due to relatively poor flexibility and biodegradability, current vascular stents still cause some life-threatening complications. Thus, it is of great significance to develop new biodegradable cerebral stents (BCSs) with enhanced flexibility for improving the prognosis of cerebral aneurysm disease. In this work, a flexibility-enhanced BCS architecture has been investigated and designed. Both numerical simulation and experiments have been performed to demonstrate the potential clinical application of the proposed BCSs. First, the effects of the structural parameters on the flexibility have been analyzed by finite element simulation. Then, the mechanical properties of the proposed BCSs have been characterized via both numerical simulation and experiments and compared to those of two representative commercial stents for demonstrating the flexibility and radial stiffness of the proposed design. The knowledge from this work provides a new design methodology.
{"title":"Development of a Computational Framework for the Evaluation of Biodegradable Cerebral Stents with Enhanced Bending Performance","authors":"Weiliang Shi, Chen Zhang, Ankun Xie, Kellen Mitchell, Yifei Jin, Danyang Zhao","doi":"10.1115/1.4056507","DOIUrl":"https://doi.org/10.1115/1.4056507","url":null,"abstract":"Cerebral aneurysm disease has extremely high mortality and morbidity, which can be efficiently treated by implanting a vascular stent. However, due to relatively poor flexibility and biodegradability, current vascular stents still cause some life-threatening complications. Thus, it is of great significance to develop new biodegradable cerebral stents (BCSs) with enhanced flexibility for improving the prognosis of cerebral aneurysm disease. In this work, a flexibility-enhanced BCS architecture has been investigated and designed. Both numerical simulation and experiments have been performed to demonstrate the potential clinical application of the proposed BCSs. First, the effects of the structural parameters on the flexibility have been analyzed by finite element simulation. Then, the mechanical properties of the proposed BCSs have been characterized via both numerical simulation and experiments and compared to those of two representative commercial stents for demonstrating the flexibility and radial stiffness of the proposed design. The knowledge from this work provides a new design methodology.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43710134","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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