Engineering Commons^™

A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski

Electronic Thesis and Dissertation Repository

This thesis deals with development and experimental evaluation of control algorithms for stabilization of robot-environment interaction based on the conic systems formalism and scattering transformation techniques. A framework for stable robot-environment interaction is presented and evaluated on a real physical system. The proposed algorithm fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction. The framework is based on the recently developed non-planar conic systems formalism and generalized scattering-based stabilization methods. A comprehensive theoretical background on the scattering transformation techniques, planar and non-planar conic systems is presented. …

Large-Scale Analysis And Automated Detection Of Trunnion Corrosion On Hip Arthroplasty Devices, Anastasia M. Codirenzi

Electronic Thesis and Dissertation Repository

Corrosion at the modular head-neck taper interface of total and hemiarthroplasty hip implants (trunnionosis) is a cause of implant failure and thus a clinical concern. Patient and device factors contributing to the occurrence of trunnionosis have been investigated in prior implant retrieval studies. The Goldberg corrosion scoring method is considered the gold standard for observing trunnionosis, but it is labour-intensive. As a result, previous studies have generally looked at under 250 implants for analysis. The purpose of this thesis was to do a large-scale analysis of trunnionosis and explore its relationship to device and patient factors and compare to previously …

Mixed-Reality Visualization Environments To Facilitate Ultrasound-Guided Vascular Access, Leah Groves

Electronic Thesis and Dissertation Repository

Ultrasound-guided needle insertions at the site of the internal jugular vein (IJV) are routinely performed to access the central venous system. Ultrasound-guided insertions maintain high rates of carotid artery puncture, as clinicians rely on 2D information to perform a 3D procedure. The limitations of 2D ultrasound-guidance motivated the research question: “Do 3D ultrasound-based environments improve IJV needle insertion accuracy”. We addressed this by developing advanced surgical navigation systems based on tracked surgical tools and ultrasound with various visualizations. The point-to-line ultrasound calibration enables the use of tracked ultrasound. We automated the fiducial localization required for this calibration method such that …

In-Clinic Functional Measurement And Analysis Of Knee Osteoarthritis Patients Undergoing Total Knee Replacement, Riley A. Bloomfield

Electronic Thesis and Dissertation Repository

Prevalence of osteoarthritis is increasing as individuals are remaining active later in life. Since the knee is one of the most commonly affected joints and is involved in almost all daily activities, functional impairment has a substantial impact on overall health. Despite this increase, there currently exists no disease modifying drugs or treatments. Mild cases are managed with physiotherapeutic exercises and common anti-inflammatories but surgical intervention is required for more severe disease progression.

Total knee replacement as a treatment for osteoarthritis is a highly successful surgery that is effective at restoring knee function and reducing pain but still requires further …

Machine Learning Towards General Medical Image Segmentation, Clara Tam

Electronic Thesis and Dissertation Repository

The quality of patient care associated with diagnostic radiology is proportionate to a physician's workload. Segmentation is a fundamental limiting precursor to diagnostic and therapeutic procedures. Advances in machine learning aims to increase diagnostic efficiency to replace single applications with generalized algorithms. We approached segmentation as a multitask shape regression problem, simultaneously predicting coordinates on an object's contour while jointly capturing global shape information. Shape regression models inherent point correlations to recover ambiguous boundaries not supported by clear edges and region homogeneity. Its capabilities was investigated using multi-output support vector regression (MSVR) on head and neck (HaN) CT images. Subsequently, …

Multivariate Analysis Of Mr Images In Temporal Lobe Epilepsy, Diego H. Cantor-Rivera

Electronic Thesis and Dissertation Repository

Epilepsy stands aside from other neurological diseases because clinical patterns of progression are unknown: The etiology of each epilepsy case is unique and so it is the individual prognosis. Temporal lobe epilepsy (TLE) is the most frequent type of focal epilepsy and the surgical excision of the hippocampus and the surrounding tissue is an accepted treatment in refractory cases, specially when seizures become frequent increasingly affecting the performance of daily tasks and significantly decreasing the quality of life of the patient. The sensitivity of clinical imaging is poor for patients with no hippocampal involvement and invasive procedures such as the …

Automated Segmentation Of Left And Right Ventricles In Mri And Classification Of The Myocarfium Abnormalities, Cyrus (Mohammad Saleh) Nambakhsh

Electronic Thesis and Dissertation Repository

A fundamental step in diagnosis of cardiovascular diseases, automated left and right ventricle (LV and RV) segmentation in cardiac magnetic resonance images (MRI) is still acknowledged to be a difficult problem. Although algorithms for LV segmentation do exist, they require either extensive training or intensive user inputs. RV segmentation in MRI has yet to be solved and is still acknowledged a completely unsolved problem because its shape is not symmetric and circular, its deformations are complex and varies extensively over the cardiac phases, and it includes papillary muscles. In this thesis, I investigate fast detection of the LV endo- and …