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}
Microlaryngoscopic surgery is a type of laryngeal surgery performed by surgeons using microsurgical instruments under the observation of a specially designed laryngoscope. While performing a microlaryngoscopic operation, the surgeons must maintain their arm position for a long time, which can cause arm soreness and affect the accuracy of the operation. In this study, a tendon-sheath-driven upper limb auxiliary exoskeleton (TULAE) is proposed and developed. The flexible cables are compressed by a wave-shaped pressing mechanism to fix the TULAE's rotating joints. The TULAE can assist surgeons in laryngoscopy operations by providing suitable support for their arms to reduce the surgical risks caused by muscle fatigue. The TULAE has 4 degrees of freedom (DOF) on each arm. The shoulder flexion/extension, shoulder abduction/adduction and elbow internal rotation/external rotation can be fixed by the control box. The shoulder internal rotation/ external rotation is a passive DOF obtained using hinges. The TULAE's shoulder, upper arm and forearm links are designed with lengths adjustable to accommodate wearers of different heights and weights. A large-scale but risk-free workspace is analyzed through rigid body kinematics using the spinor method. The control hardware of the TULAE is developed based on the open-source Arduino board. Finally, the experimental results show that this TULAE can significantly reduce the range of wrists shaking and assist surgeons in laryngoscopy surgery.
{"title":"Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery","authors":"Zhengyu Wang, Wenjun Song, Sen Qian, Daoming Wang, Zirui Jia, Xiang Yu","doi":"10.1115/1.4056319","DOIUrl":"https://doi.org/10.1115/1.4056319","url":null,"abstract":"\u0000 Microlaryngoscopic surgery is a type of laryngeal surgery performed by surgeons using microsurgical instruments under the observation of a specially designed laryngoscope. While performing a microlaryngoscopic operation, the surgeons must maintain their arm position for a long time, which can cause arm soreness and affect the accuracy of the operation. In this study, a tendon-sheath-driven upper limb auxiliary exoskeleton (TULAE) is proposed and developed. The flexible cables are compressed by a wave-shaped pressing mechanism to fix the TULAE's rotating joints. The TULAE can assist surgeons in laryngoscopy operations by providing suitable support for their arms to reduce the surgical risks caused by muscle fatigue. The TULAE has 4 degrees of freedom (DOF) on each arm. The shoulder flexion/extension, shoulder abduction/adduction and elbow internal rotation/external rotation can be fixed by the control box. The shoulder internal rotation/ external rotation is a passive DOF obtained using hinges. The TULAE's shoulder, upper arm and forearm links are designed with lengths adjustable to accommodate wearers of different heights and weights. A large-scale but risk-free workspace is analyzed through rigid body kinematics using the spinor method. The control hardware of the TULAE is developed based on the open-source Arduino board. Finally, the experimental results show that this TULAE can significantly reduce the range of wrists shaking and assist surgeons in laryngoscopy surgery.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42307728","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}
Riaz Ur Rehman Mohammed, Vedad Bassari, Richard Rasmussen, B. Terry
An anal fissure is a common anorectal problem that affects men and women of all age groups. It develops from an acute phase that presents as a linear or oval tear in the anoderm and may progress to a more complex chronic stage due to poor healing. Routine defecation causes overstretching of the anoderm and deepens the scar, setting up a positive feedback loop that keeps the fissure from healing. Existing treatments can be invasive, expensive, and may induce side effects. Here we present a novel vacuum-operated mechanical device to extract feces via suction. The device is designed to solve the problem of anodermal stretching by assisting in defecation. The device was tested in vitro on a benchtop model of the rectum and in vivo on pigs. In vitro tests showed that the device could hold a vacuum for 12 h with negligible leakage. Further, the device could extract simulated human feces at a flowrate of 32 mL/s. In vivo tests on pigs showed that the device did not cause any trauma to the rectal wall, thus demonstrating its safety. Our results highlight the potential of this novel platform to circumvent the problem of anodermal stretching and improve the healing rate of anal fissures.
{"title":"A Portable, Vacuum-Operated, and Purely Mechanical Device for Extracting Feces by Suction to Cure Chronic Anal Fissures","authors":"Riaz Ur Rehman Mohammed, Vedad Bassari, Richard Rasmussen, B. Terry","doi":"10.1115/1.4056251","DOIUrl":"https://doi.org/10.1115/1.4056251","url":null,"abstract":"\u0000 An anal fissure is a common anorectal problem that affects men and women of all age groups. It develops from an acute phase that presents as a linear or oval tear in the anoderm and may progress to a more complex chronic stage due to poor healing. Routine defecation causes overstretching of the anoderm and deepens the scar, setting up a positive feedback loop that keeps the fissure from healing. Existing treatments can be invasive, expensive, and may induce side effects. Here we present a novel vacuum-operated mechanical device to extract feces via suction. The device is designed to solve the problem of anodermal stretching by assisting in defecation. The device was tested in vitro on a benchtop model of the rectum and in vivo on pigs. In vitro tests showed that the device could hold a vacuum for 12 h with negligible leakage. Further, the device could extract simulated human feces at a flowrate of 32 mL/s. In vivo tests on pigs showed that the device did not cause any trauma to the rectal wall, thus demonstrating its safety. Our results highlight the potential of this novel platform to circumvent the problem of anodermal stretching and improve the healing rate of anal fissures.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44062213","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}
As a division of polymerase chain reaction (PCR), convective PCR (CPCR) is able to achieve highly efficient thermal cycling based on free thermal convection with pseudo-isothermal heating, which could be beneficial to point-of-care (POC) nucleic acid analysis. Similar to traditional PCR or isothermal amplification, due to a couple of issues, e.g., reagent, primer design, reactor, reaction dynamics, amplification status, temperature and heating condition, and other reasons, in some cases of CPCR tests, untypical real-time fluorescence curves with positive or negative tests will show up. Especially, when parts of the characteristics between untypical low-positive and negative tests are mixed together, it is difficult to discriminate between them using traditional cycle threshold (Ct) value method. To handle this issue which may occur in CPCR, traditional PCR or isothermal amplification, as an example, instead of using complicated mathematical modeling and signal processing strategy, an artificial intelligence (AI) classification method with artificial neural network (ANN) modeling is developed to improve the accuracy of nucleic acid detection. It has been proven that both the detection specificity and sensitivity can be significantly improved even with a simple ANN model. It can be estimated that, the developed method based on AI modeling can be adopted to solve similar problem with PCR, or isothermal amplification methods.
{"title":"Application of ANN to Nucleic Acid Analysis: Accurate Discrimination for Untypical Real-Time Fluorescence Curves with High Specificity and Sensitivity","authors":"Guijun Miao, Xiaodan Jiang, Yunping Tu, Lulu Zhang, Duli Yu, Shizhi Qian, Xianbo Qiu","doi":"10.1115/1.4056150","DOIUrl":"https://doi.org/10.1115/1.4056150","url":null,"abstract":"\u0000 As a division of polymerase chain reaction (PCR), convective PCR (CPCR) is able to achieve highly efficient thermal cycling based on free thermal convection with pseudo-isothermal heating, which could be beneficial to point-of-care (POC) nucleic acid analysis. Similar to traditional PCR or isothermal amplification, due to a couple of issues, e.g., reagent, primer design, reactor, reaction dynamics, amplification status, temperature and heating condition, and other reasons, in some cases of CPCR tests, untypical real-time fluorescence curves with positive or negative tests will show up. Especially, when parts of the characteristics between untypical low-positive and negative tests are mixed together, it is difficult to discriminate between them using traditional cycle threshold (Ct) value method. To handle this issue which may occur in CPCR, traditional PCR or isothermal amplification, as an example, instead of using complicated mathematical modeling and signal processing strategy, an artificial intelligence (AI) classification method with artificial neural network (ANN) modeling is developed to improve the accuracy of nucleic acid detection. It has been proven that both the detection specificity and sensitivity can be significantly improved even with a simple ANN model. It can be estimated that, the developed method based on AI modeling can be adopted to solve similar problem with PCR, or isothermal amplification methods.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48058786","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}
Colorectal cancer is a common malignant tumor in the gastrointestinal tract. Resection of the cancerous site and anastomosis of the residual intestine is the preferred radical treatment for colorectal cancer. In particular, radiofrequency energy anastomosis of the residual intestine is being increasingly used in clinical practice. To improve the quality of anastomosis, reduce the thermal damage of tissue near the anastomosis area, and avoid foreign body residue in this area, we propose a self-cooling eversion-type radiofrequency-energy intestinal anastomosis electrode, which is analyzed through simulations and evaluated experimentally for welding intestinal tissue. For radiofrequency energy power of 160 W, anastomosis time of 13.2 s, and pressure of 154 kPa, the disconnected intestinal tissues can be anastomosed using the proposed electrode. The average burst pressure of the anastomotic orifice is 43.86 mmHg. During welding, the temperature of the normal saline at the outlet is 6.8 °C higher than that at the inlet, indicating that the use of circulating normal saline as the conductive and cooling medium can dissipate part of the heat generated by welding and reduce heat accumulation, thereby reducing thermal damage of biological tissue near the welding area. Overall, the proposed electrode may contribute to the recovery of postoperative intestinal function by enabling a novel strategy for clinical intestinal anastomosis induced by radiofrequency energy.
{"title":"Design and Evaluation of Self-Cooling Electrodes for Radiofrequency Intestinal Anastomosis","authors":"Wanli Yue, Haipo Cui, Chengli Song, Liangyong Tu, Jingcheng Lang, Wenhui Yan, Yingxi Lu","doi":"10.1115/1.4056008","DOIUrl":"https://doi.org/10.1115/1.4056008","url":null,"abstract":"\u0000 Colorectal cancer is a common malignant tumor in the gastrointestinal tract. Resection of the cancerous site and anastomosis of the residual intestine is the preferred radical treatment for colorectal cancer. In particular, radiofrequency energy anastomosis of the residual intestine is being increasingly used in clinical practice. To improve the quality of anastomosis, reduce the thermal damage of tissue near the anastomosis area, and avoid foreign body residue in this area, we propose a self-cooling eversion-type radiofrequency-energy intestinal anastomosis electrode, which is analyzed through simulations and evaluated experimentally for welding intestinal tissue. For radiofrequency energy power of 160 W, anastomosis time of 13.2 s, and pressure of 154 kPa, the disconnected intestinal tissues can be anastomosed using the proposed electrode. The average burst pressure of the anastomotic orifice is 43.86 mmHg. During welding, the temperature of the normal saline at the outlet is 6.8 °C higher than that at the inlet, indicating that the use of circulating normal saline as the conductive and cooling medium can dissipate part of the heat generated by welding and reduce heat accumulation, thereby reducing thermal damage of biological tissue near the welding area. Overall, the proposed electrode may contribute to the recovery of postoperative intestinal function by enabling a novel strategy for clinical intestinal anastomosis induced by radiofrequency energy.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47050408","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}
A novel, high-performance, cosmetic, rugged, appropriately-costed, mass-manufacturable prosthetic foot for use in low-income countries was designed and field tested. This ruggedized foot was created to accommodate the unique economic, environmental, and cultural requirements for users in India. A previous prototype that enabled able-bodied like gait was modified to include a durable cosmetic cover without altering the tuned stiffness of the overall foot. After undergoing mechanical benchtop testing, the foot was distributed to prosthesis users in India to for at least 5 months. Afterwards, participants underwent clinical tests to evaluate walking performance, and additional benchtop testing was performed on the field-tested feet to identify changes in performance. The ruggedized foot endured one million fatigue cycles without failure and demonstrated the desired stiffness properties. Subjects walked significantly faster (0.14 m/s) with the ruggedized foot compared to the Jaipur foot, and the feet showed no visible sign of damage after months of use. Additionally, the field-tested feet showed little difference in stiffness from a set of unused controls. Anecdotal feedback from the participants indicated that the foot improved their speed and/or walking effort, but may benefit from more degrees of freedom about the ankle. The results suggest that the foot fulfills its design requirements; however, further field testing is required with more participants over a longer period to make sure the foot is suitable for use in developing countries.
{"title":"Design and Evaluation of a High-Performance, Low-Cost Prosthetic Foot for Developing Countries","authors":"W. Johnson, Victor Prost, Pooja Mukul, A. Winter","doi":"10.1115/1.4055967","DOIUrl":"https://doi.org/10.1115/1.4055967","url":null,"abstract":"\u0000 A novel, high-performance, cosmetic, rugged, appropriately-costed, mass-manufacturable prosthetic foot for use in low-income countries was designed and field tested. This ruggedized foot was created to accommodate the unique economic, environmental, and cultural requirements for users in India. A previous prototype that enabled able-bodied like gait was modified to include a durable cosmetic cover without altering the tuned stiffness of the overall foot. After undergoing mechanical benchtop testing, the foot was distributed to prosthesis users in India to for at least 5 months. Afterwards, participants underwent clinical tests to evaluate walking performance, and additional benchtop testing was performed on the field-tested feet to identify changes in performance. The ruggedized foot endured one million fatigue cycles without failure and demonstrated the desired stiffness properties. Subjects walked significantly faster (0.14 m/s) with the ruggedized foot compared to the Jaipur foot, and the feet showed no visible sign of damage after months of use. Additionally, the field-tested feet showed little difference in stiffness from a set of unused controls. Anecdotal feedback from the participants indicated that the foot improved their speed and/or walking effort, but may benefit from more degrees of freedom about the ankle. The results suggest that the foot fulfills its design requirements; however, further field testing is required with more participants over a longer period to make sure the foot is suitable for use in developing countries.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41642730","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}
Alternatives to the current invasive rib implants are discussed as from the current solutions with their constraints and disadvantages mainly in surgery application and clinical consequences. A novel rib fixator is presented with an experimental validation and characterization for a potential implementation in facilitating osteosynthesis of multifractured ribs. Testing is designed with lab facilities replicating normal breathing and coughing. Results of lab test with a Ribolution rib fixator prototype are discussed from experiences with pig ribs with satisfactory results in behavior and numerical values.
{"title":"An Experimental Study of Feasibility of a Mini-Invasive Fixator for Rib Osteosynthesis","authors":"L. Puglisi, M. Ceccarelli, V. Ambrogi","doi":"10.1115/1.4055861","DOIUrl":"https://doi.org/10.1115/1.4055861","url":null,"abstract":"\u0000 Alternatives to the current invasive rib implants are discussed as from the current solutions with their constraints and disadvantages mainly in surgery application and clinical consequences. A novel rib fixator is presented with an experimental validation and characterization for a potential implementation in facilitating osteosynthesis of multifractured ribs. Testing is designed with lab facilities replicating normal breathing and coughing. Results of lab test with a Ribolution rib fixator prototype are discussed from experiences with pig ribs with satisfactory results in behavior and numerical values.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45712180","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 article, we present the design, validation, and imaging capabilities of a MEchanically Discretized Ultrasound Scanning Apparatus (MEDUSA) that supports flexible development of UST algorithms for complex tissue structures. Ultrasound tomography (UST) in the recent decade has shown promising results in quantitative soft-tissue imaging for clinical breast cancer diagnostics. There is growing interest in applying tomographic techniques to image broader tissue structures that include bone, where imaging is significantly more challenging due to strong impedance mismatches and complex wave propagation within the region. Changes in data acquisition strategy, algorithms, and system design are necessary to enable quantitative imaging of soft-tissue with bone inclusions. The 36 degree of freedom MEDUSA system allows free space positioning of acoustic transducers around an imaging target and enables investigation of imaging strategies not available in other UST systems. We present the mechanical design, parameter calibration, and tomographic imaging results using MEDUSA. Mono/Bi-static imaging and full-waveform inversion (FWI) results on real targets are presented and validates system performance capabilities for broader UST algorithm development for more complex tissue structures
{"title":"Multi-Manipulator Robotic System for Ultrasound Tomography: Design, Calibration, and Image Results","authors":"Xiang Zhang, G. Ely, Bonghun Shin, B. Anthony","doi":"10.1115/1.4055655","DOIUrl":"https://doi.org/10.1115/1.4055655","url":null,"abstract":"\u0000 In this article, we present the design, validation, and imaging capabilities of a MEchanically Discretized Ultrasound Scanning Apparatus (MEDUSA) that supports flexible development of UST algorithms for complex tissue structures. Ultrasound tomography (UST) in the recent decade has shown promising results in quantitative soft-tissue imaging for clinical breast cancer diagnostics. There is growing interest in applying tomographic techniques to image broader tissue structures that include bone, where imaging is significantly more challenging due to strong impedance mismatches and complex wave propagation within the region. Changes in data acquisition strategy, algorithms, and system design are necessary to enable quantitative imaging of soft-tissue with bone inclusions. The 36 degree of freedom MEDUSA system allows free space positioning of acoustic transducers around an imaging target and enables investigation of imaging strategies not available in other UST systems. We present the mechanical design, parameter calibration, and tomographic imaging results using MEDUSA. Mono/Bi-static imaging and full-waveform inversion (FWI) results on real targets are presented and validates system performance capabilities for broader UST algorithm development for more complex tissue structures","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43277648","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}
This paper presents the design and preliminary evaluation of a user-adaptive ankle foot orthosis (AFO). To begin with, according to the foot dimensions of an able-bodied subject, the structures of the ankle orthotic device are conceived. Then, based on a common two-degree-of-freedom (DOF) foot model, the AFO-human system is set up; its kinematic model and the device's mechanism of user adaptation are analyzed. After that, the layout of a portable orthotic system, as well as a smart insole that detects gait phases, is illustrated. Finally, the orthotic system is tested on the aforementioned subject. Results show that, when assistive torque of the AFO is applied, the foot's plantarflexion magnitude before the swing stage and dorsiflexion magnitude during the swing stage approximately increase by 3 and 4 degrees, respectively. Therefore, the orthosis has the potential to aid propulsion motions and control toe clearance.
{"title":"Design, Analysis, and Control of A User-Adaptive","authors":"Yuan Zhou, Lu Liu","doi":"10.1115/1.4055521","DOIUrl":"https://doi.org/10.1115/1.4055521","url":null,"abstract":"\u0000 This paper presents the design and preliminary evaluation of a user-adaptive ankle foot orthosis (AFO). To begin with, according to the foot dimensions of an able-bodied subject, the structures of the ankle orthotic device are conceived. Then, based on a common two-degree-of-freedom (DOF) foot model, the AFO-human system is set up; its kinematic model and the device's mechanism of user adaptation are analyzed. After that, the layout of a portable orthotic system, as well as a smart insole that detects gait phases, is illustrated. Finally, the orthotic system is tested on the aforementioned subject. Results show that, when assistive torque of the AFO is applied, the foot's plantarflexion magnitude before the swing stage and dorsiflexion magnitude during the swing stage approximately increase by 3 and 4 degrees, respectively. Therefore, the orthosis has the potential to aid propulsion motions and control toe clearance.","PeriodicalId":49305,"journal":{"name":"Journal of Medical Devices-Transactions of the Asme","volume":" ","pages":""},"PeriodicalIF":0.9,"publicationDate":"2022-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43339774","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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