Engineering Commons^™

Optical Fibre-Based Force Sensing Needle Driver For Minimally Invasive Surgery, Pouya Soltani Zarrin

Electronic Thesis and Dissertation Repository

Minimally invasive surgery has been limited from its inception by insufficient haptic feedback to surgeons. The loss of haptic information threatens patients safety and results in longer operation times. To address this problem, various force sensing systems have been developed to provide information about tool–tissue interaction forces. However, the provided results for axial and grasping forces have been inaccurate in most of these studies due to considerable amount of error and uncertainty in their force acquisition method. Furthermore, sterilizability of the sensorized instruments plays a pivotal role in accurate measurement of forces inside a patient's body. Therefore, the objective of …

Design, Implementation And Control Of A Robotic Platform For Post-Stroke Upper- And Lower-Limb Rehabilitation, Vahid Mehrabi

Electronic Thesis and Dissertation Repository

Stroke is the primary cause of permanent disabilities worldwide. Hemiparesis and hemiplegia (the most common consequences of stroke) are the decreases in motor-functionality of the brain on one side of the body which will affect the daily life activities of the patient. There are several challenges with the current state of delivering rehabilitation services such as limitations on the number of the clinics, financial resources needed for providing rehabilitation, associated costs of transportation, and human resources. To overcome the issues related to conventional ways of delivering therapy, different robotic systems have been developed to benefit healthcare systems and patient with …

A Novel Approach To Assess Minimally Invasive Surgical Device Failure Utilizing Adverse Event Outcome Severity And Design Complexity., Marie K. Riggs

Electronic Theses and Dissertations

Medical device failure and misuse have the potential to cause serious injury and death. Given the intricate nature of the instruments utilized specifically in minimally invasive surgery (MIS), users and manufacturers of surgical devices share a responsibility in preventing user error and device failure. A novel approach was presented for the evaluation of minimally invasive device failures, which involved assessing the severity of adverse event outcomes associated with the failures modes and investigating aspects of the devices’ design that may contribute to failure. The goals of this research were to 1) characterize the design attributes, failure modes, and adverse events …

Eeg Characterization During Motor Tasks That Are Difficult For Movement Disorder Patients, Adam Joshua Aslam

Master's Theses

Movement disorders are a group of syndromes that often arise due to neurological abnormalities. Approximately 40 million Americans are affected by some form of movement disorder, significantly impacting patients’ quality of life and their ability to live independently. Deep brain stimulation (DBS) is one treatment that has shown promising results in the past couple decades, however, the currently used open-loop system has several drawbacks. By implementing a closed-loop or adaptive DBS (aDBS) system, the need for expensive parameter reprogramming sessions would be reduced, side-effects may be relieved, and habituation could be avoided. Several biomarkers, for example signals or activity derived …

Development Of In-Vitro And In-Vivo Devices To Study The Mechanobiology Of Ligament Healing, John Bayard Everingham

Boise State University Theses and Dissertations

Ligament injuries are the most common sports injury in the United States. The current clinical practice for treating ligament injuries leaves many patients with significant pain and joint laxity for years following the initial injury. Controlled mechanical stimulation of the tissue after injury is necessary for robust healing, but the optimal mechanical environment for ligament healing is not fully understood. Alternative therapies, such as instrument assisted soft tissue mobilization (IASTM), offer a form of mechanical stimulation that is non-invasive and has shown promising clinical outcomes but the optimal dosage for IASTM treatments is unknown. The objective of this study was …

Design, Development, And Characterization Of Breathforce : A Respiratory Training System For Patients With Spinal Cord Injuries., Kevin L Tran

Electronic Theses and Dissertations

Pulmonary and cardiovascular dysfunction are consistently reported as the leading causes of morbidity and mortality among the 1,275,000 people who are living with chronic spinal cord injury (SCI) in the United States. Respiratory-cardiovascular complications from neurological disorders (primarily COPD and sleep apnea) are currently the number one cause of death and disability in the US.

The main goal of this project is to develop an inspiratory-expiratory training device for use in the rehabilitation of patients with respiratory motor and cardiovascular deficits that incorporates existing technologies and promotes successful training methodologies performed at the clinic and at home.

An embedded microprocessor …

A 3d Us Guidance System For Permanent Breast Seed Implantation: Development And Validation, Justin Michael

Electronic Thesis and Dissertation Repository

Permanent breast seed implantation (PBSI) is a promising breast radiotherapy technique that suffers from operator dependence. We propose and have developed an intraoperative 3D ultrasound (US) guidance system for PBSI.

A tracking arm mounted to a 3D US scanner registers a needle template to the image. Images were validated for linear and volumetric accuracy, and image quality in a volunteer. The tracking arm was calibrated, and the 3D image registered to the scanner. Tracked and imaged needle positions were compared to assess accuracy and a patient-specific phantom procedure guided with the system.

Median/mean linear and volumetric error was ±1.1% and …

Development Of Biomimetic Membrane Assemblies On Microspheres For High-Throughput And Multiplexable Studies, Nadiezda P. Fernandez Oropeza

Biomedical Engineering ETDs

Membranes and membrane-associated components are the target of approximately 60% of the current drugs, of synthetic materials, such as polymers, which are used for drug delivery purposes and of other biomolecules, such as endotoxins, which gain entry into the cell by disrupting the membrane. Therefore, the development of biomimetic membrane assemblies allows the study of different biological processes in which cell membranes play an important role, and the characterization and screening of drug delivery tools and other membrane-bound components.

Since its development, membrane assemblies on planar silica surfaces have been the method of choice to study membrane-associated and membrane-bound components. …

Design And Evaluation Of Neurosurgical Training Simulator, Trinette L. Wright

Electronic Thesis and Dissertation Repository

Surgical simulators are becoming more important in surgical training. Consumer smartphone technology has improved to allow deployment of VR applications and are now being targeted for medical training simulators. A surgical simulator has been designed using a smartphone, Google cardboard 3D glasses, and the Leap Motion (LM) hand controller. Two expert and 16 novice users were tasked with completing the same pointing tasks using both the LM and the medical simulator NeuroTouch. The novice users had an accuracy of 0.2717 bits (SD 0.3899) and the experts had an accuracy of 0.0925 bits (SD 0.1210) while using the NeuroTouch. Novices and …

Development Of An Active Finger Motion Simulator: With In-Vitro Assessments Of Tendon Loads And Joint Kinematics, Mohammad Haddara

Electronic Thesis and Dissertation Repository

Musculoskeletal injuries of the finger far outnumber those of other joints, and while in-vitro motion simulators are useful for studying joint biomechanics and evaluating surgical repairs, considerably less simulator development has been reported for the finger compared to other joints. Replication of active musculoskeletal movement during in-vitro testing has been shown to be more representative of in-vivo motion patterns, and closed-loop motion controllers are the current state-of-the-art for in-vitro kinematics studies. However, an in-vitro motion simulator with closed-loop tendon load control and simultaneous tendon excursion control has not yet been reported for the finger. This thesis outlines the design and …

Functional Design And Analysis Of A Linked Shoulder Prosthesis, Emily West

Electronic Thesis and Dissertation Repository

Persistent shoulder instability following joint arthroplasty remains a concern with mixed outcomes following clinical and surgical intervention. Thus, a linked universal joint implant was developed and functionally analyzed. A virtual model of the linked implant was developed and implanted in a 3D bony specimen to measure the available circumduction range of motion. Stresses in the implant were estimated using finite element analysis based on joint loads during activities of daily life. The glenoid fixation stress was evaluated using finite element analysis.

The implant was capable of restoring normal range of motion, and withstanding expected joint loads without yield or fatigue …

Collapsible Silicone Tubes: An In Vitro Model For Tracheal Traction, Kevin D. Garman

Master's Theses (2009 -)

Obstructive sleep apnea (OSA) is characterized by recurrent episodes of airway collapse and airflow limitation during sleep. Fragmented sleep and reductions in blood oxygen saturation lead to several comorbidities, including hypertension, cardiovascular disease, and cerebrovascular disease. Longitudinal forces (tracheal traction) acting on the soft tissues surrounding the upper airway have been proposed to play a significant role in stabilizing the airway and preventing collapse. However, the relative contribution of longitudinal forces as compared to other factors that affect airway stability (airway geometry, tissue properties, muscle activity) remains unclear. This in-vitro study aimed to investigate to what extent longitudinal forces can …

Thermally Assisted Pulsed Electric Field Ablation For Cancer Therapy, James Michael Hornef

Biomedical Engineering Theses & Dissertations

Pulsed Electric Fields (PEF) have promised improved treatment results in a variety of cancer types including melanoma, pancreatic and lung squamous cancer. Recent studies show that PEF-based cancer therapy may be improved further with the assistance of moderate heating of the target. Experiments were performed to design, calibrate and implement a feedback-looped infrared laser irradiation system that could maintain specified temperatures during the treatment. The exact treatment area, penetration depth and thermal distribution of a 980-nm laser fiber were quantified using several methods, including the knife-edge technique and a tissue optical property study. In vivo and in vitro experiments using …

Effects Of Random Oscillations On Balance Control In Healthy Young Adults, Jacob Van Dehy

Master's Theses (2009 -)

In human walking, balance control is managed through proactive changes in spatio-temporal parameters of stepping [1]. It has been suggested that continuous disruptions to healthy young adult balance cause greater changes to overall variability of these parameters than a shift in the mean stepping parameters [2]. This suggests that walking may be occurring in a more reactive manner, modulating to maintain balance without increasing the mean significantly. Work using continuous oscillations to treadmill walking suggest there is an interplay between the predictability of a signal used to disrupt subject balance and the degree to which compensation occurs [3]. To determine …

Force Sensing Surgical Grasper With Folding Capacitive Sensor, Dave Bp Tripp

Electronic Thesis and Dissertation Repository

Minimally-invasive surgery (MIS) has brought many benefits to the operating room, however, MIS procedures result in an absence of force feedback, and surgeons cannot as accurately feel the tissue they are working on, or the forces that they are applying. One of the barriers to introducing MIS instruments with force feedback systems is the high cost of manufacturing and assembly. Instruments must also be sterilized before every use, a process that can destroy embedded sensing systems. An instrument that can be disposed of after a single use and produced in bulk at a low cost is desirable. Printed circuit micro-electro-mechanical …

Design Of A Robotic Instrument Manipulator For Endoscopic Deployment, Ryan Ponten

Masters Theses

This thesis describes the initial design process for an application of continuum robotics to endoscopic surgical procedures, specifically dissection of the colon. We first introduce the long-term vision for a benchtop dual-instrument endoscopic system with intuitive haptic controllers and then narrow our focus to the design and testing of the instrument manipulator itself, which must be actuated through the long, winding channel of a standard colonoscope.

Based on design requirements for a target procedure, we analyze simulations of two types of continuum robots using recently established kinematic and mechanic modeling approaches: the concentric-tube robot (CTR) and the concentric agonist-antagonist robot …

An Automated Device To Increase Screening Throughput Of Zebrafish Larvae, Fuoad Saliou-Sulley

Electronic Theses and Dissertations

The use of the zebrafish as an animal model alternative to mammalian species has spawned research advancements in several medical fields. Since the zebrafish shares a high degree of sequence and functional homology with mammals, studies using this organism can provide in-depth insight into host response to disease and provide a platform for testing a range of treatment options. The optical transparency of zebrafish at early stages of development permits easy assessment of the effects of treatments, occurrence of tumors and other abnormal growth, disease progression, and immune response, to name only a few. These characteristics make it ideal for …

Optimization Of Prosthetic Hands: Utilizing Modularity To Improve Grip Force, Grasp, And Versatility, Jordan William Harris

UNLV Theses, Dissertations, Professional Papers, and Capstones

It has been demonstrated that although many varieties of upper limb prosthetics exist, commercially available prosthetics are outdated and unsatisfactory. Ineffectiveness and limitations have led to some prosthesis wearers having to own multiple devices, whereas others have given up on them entirely. Even though ample research has been conducted to design and test new hand designs, the industry appears to rest in an overall stagnated state.

It was proposed here, that one problem with prosthetic research is an excess of variables involved in testing, and therefore the improper application of the scientific method. It seems that each time a research …

Biomechanical Testing Of An Exercise For Strengthening The Proximal Femur., Alyssa Osbourne

Electronic Theses and Dissertations

Based on the principles of cutting edge bone remodeling research, a unique therapeutic exercise device was designed specifically to improve bone quality at the most critical location of the proximal femur prone to fracture: the superior-lateral femoral neck where the fracture first initiates during a fall. The exercise/device is intended to work by inducing enough strain in the bone to stimulate the body’s natural bone remodeling mechanisms to increase bone density in the proximal femur and consequently prevent a fracture from arising if a fall to the side does occur.

In order to test the proposed exercise, experiments simulating the …

A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber

Masters Theses

The product of this thesis aims to enable the study of the biochemical and physical dynamics of the lower limbs at high levels of muscle tension and fast contraction speeds. This is accomplished in part by a magnetic resonance (MR) compatible ergometer designed to apply a load as a torque of up to 420 Nm acting against knee extension at speeds as high as 4.7 rad/s. The system can also be adapted to apply the load as a force of up to 1200 N acting against full leg extension. The ergometer is designed to enable the use of magnetic resonance …

Markerless Kinematics Of Pediatric Manual Wheelchair Mobility, Jacob Robert Rammer

Dissertations (1934 -)

Pediatric manual wheelchair users face substantial risk of orthopaedic injury to the upper extremities, particularly the shoulders, during transition to wheelchair use and during growth and development. Propulsion strategy can influence mobility efficiency, activity participation, and quality of life. The current forefront of wheelchair biomechanics research includes translating findings from adult to pediatric populations, improving the quality and efficiency of care under constrained clinical funding, and understanding injury mechanisms and risk factors. Typically, clinicians evaluate wheelchair mobility using marker-based motion capture and instrumentation systems that are precise and accurate but also time-consuming, inconvenient, and expensive for repeated assessments. There is …

Real-Time Membrane Puncture Detection Using Force Sensors For Micro-Injections In Phantoms, Szymon Kowal

Electronic Thesis and Dissertation Repository

Micro-manipulators provide tools for researchers to improve workflow in common preclinical and clinical applications. Following drug delivery injections where drugs did not reach their target will squander research time, experimental animals and other resources. An ultrasound-guided robot developed at Robarts Research Institute was revised to implement closed-loop force feedback to compensate for tissue deformation during micro-interventions. Force sensors can detect puncture events as the needle penetrates tissue membranes, thereby reducing damage to surrounding tissues by preventing the needle from overshooting its target. Changing the angle of injection determined that the range of detectable forces during injections into tissue-mimicking phantoms suggests …

Skin Tone Tracking Device (Chromaband), Ziyang Bian

Computer Engineering

It’s long been said that your skin is a window into your health and with many illnesses the first signs of trouble actually show up in your skin. So if we have this natural warning system, then why isn’t anyone able to effectively use it to predict changes in our health? The problem is that currently there is no reliable way to accurately measure the change in skin tone and how these changes may or may not change with variations in health. This project’s aim is to design and develop a device that will record the changes in a user’s …

Redesign Of The Medtronic Kyphon Bone Cement Mixer For Vertebral Compression Fractures, Mollie Benson, Sarah Freesemann, Aj Konnath, Benjamin Murray

Biomedical Engineering

The complete senior project report was submitted to the project advisor and sponsor. The results of this project are of a confidential nature and will not be published at this time.

Poly Drop, Zachary T. Scott, Lilly J. Paul

Computer Engineering

Poly Drop is a software interface to control an Open Drop digital micro-fluidics system. We obtained a hardware system from Gaudi labs. Our task was to create a Graphical User Interface that made the control of the device easier and more automated for better testing. We created software that had 3 parts: a control GUI, arduino code to control the hardware, and Image Analysis that gives the user information such as location and color of liquid drops as they move across the electrode grid of the Open Drop system. The GUI was developed using Java Swing. The communication between the …

Characterization And Manipulation Of Lipid Self-Assembly To Construct Stable, Portable Synthetic Lipid Bilayers, Guru Anand Venkatesan

Doctoral Dissertations

The overarching goal of this research work is to further our understanding of lipid self-assembly and its organization at an oil-water interface to support the development of synthetic lipid bilayer systems that can be used in biologically relevant fields such as membrane biophysics, protein electrophysiology, development of synthetic biomolecules, drugs, nanoparticles and other applications. Self-assembly kinetics and interfacial properties of lipid monolayers formed at a liquid-air and liquid-liquid interface are characterized using Langmuir-Blodgett trough and pendant drop tensiometer. Insights gained from these studies not only allow us to answer questions related to droplet interface bilayer (DIB; a promising technique to …

Modeling, Analysis, Force Sensing And Control Of Continuum Robots For Minimally Invasive Surgery, Caroline Bryson Black

Doctoral Dissertations

This dissertation describes design, modeling and application of continuum robotics for surgical applications, specifically parallel continuum robots (PCRs) and concentric tube manipulators (CTMs). The introduction of robotics into surgical applications has allowed for a greater degree of precision, less invasive access to more remote surgical sites, and user-intuitive interfaces with enhanced vision systems. The most recent developments have been in the space of continuum robots, whose exible structure create an inherent safety factor when in contact with fragile tissues. The design challenges that exist involve balancing size and strength of the manipulators, controlling the manipulators over long transmission pathways, and …

Detection Of Leukocytes Stained With Acridine Orange Using Unique Spectral Features Acquired From An Image-Based Spectrometer, Courtney J. Hunter

Biomedical Engineering Undergraduate Honors Theses

A leukocyte differential count can be used to diagnosis a myriad blood disorders, such as infections, allergies, and efficacy of disease treatments. In recent years, attention has been focused on developing point-of-care (POC) systems to provide this test in global health settings. Acridine orange (AO) is an amphipathic, vital dye that intercalates leukocyte nucleic acids and acidic vesicles. It has been utilized by POC systems to identify the three main leukocyte subtypes: granulocytes, monocytes, and lymphocytes. Subtypes of leukocytes can be characterized using a fluorescence microscope, where the AO has a 450 nm excitation wavelength and has two peak emission …

Development And Evaluation Of A Biocompatible Electroactive Sensor For Continuous Blood Pressure Measurement., Scott D. Cambron

Electronic Theses and Dissertations

Piezo-active composites have been implemented for sensing and transduction for decades. The 0-3 ceramic/polymer composite is one of the most common composite types used for sensing applications, owing to their tailorable properties of the two-phase composition, consisting of a three-dimensionally connected polymer/rubber matrix (inactive phase) with a dispersion of isolated piezo-ceramic particles (active phase). This thesis describes a method to develop novel biocompatible perivascular band comprised of a two-phase piezo-active composite to be fabricated using simple manufacturing processes. Biomaterials such as tissue scaffolds comprised of silk fibroin (SF) and chitosan (CS), and biocompatible soft rubbers will be implemented as the …

Sensitivity Of Diffuse Reflectance Spectroscopy To Dose- And Depth-Dependent Changes In Tumor Oxygenation After Radiation Therapy, Daria Semeniak

Graduate Theses and Dissertations

Along with chemotherapy, immunotherapy, and surgery, radiotherapy is one of the most common treatments used against cancer. Around 50% of all cancer patients undergo radiation therapy. While for some patients radiotherapy works efficiently and lead to a complete cancer disappearance, for others treatment outcome may be less favorable due to radioresistance processes happening within a tumor on the molecular level. Radioresistance remains a big challenge for modern oncology. The ability to identify radioresistance at the early stage of radiotherapy would help physicians to improve therapy efficiency. At the current moment, despite the rapid progress in cancer understanding and diagnostic modalities, …