Biomedical Engineering and Bioengineering Commons^™

Development Of An Intraperitoneal Catheter Placement Device For Use On The Battlefield, Riley Reynolds

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

The objective of this project was to simplify peritoneal cavity access so an Airforce field medic can safely infuse oxygen microbubbles (OMBs) into the intraperitoneal space for the emergency treatment of hypoxia due to lung damage. To solve this problem, we created an intraperitoneal catheter placement device for use on the battlefield. The three common methods and some of the most common devices for peritoneal cavity access were reviewed. Injury frequencies for each of the three methods were analyzed. The results showed that each of the access techniques gives a similar rate of iatrogenic injury.

The battlefield conditions where the …

Ring And Peg Simulation For Minimally Invasive Surgical Robot, Evan Brown

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Surgical procedures utilizing minimally invasive laparoscopic techniques have shown less complications, better cosmetic results, and less time in the hospital than conventional surgery. These advantages are partially offset by inherent difficulties of the procedures which include an inverted control scheme, instrument clashing, and loss of triangulation. Surgical robots have been designed to overcome the limitations, the Da Vinci being the most widely used. A dexterous in vivo, two-armed robot, designed to enter an insufflated abdomen with a limited insertion profile and expand to perform a variety of operations, has been created as a less expensive, versatile alternative to the Da …

Development Of Peritoneal Microbubble Oxygenation As An Extrapulmonary Treatment For Hypoxia, Nathan Legband

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Patients affected by a respiratory disease or injury experience a substantially impaired respiratory system and as a consequence are unable to obtain a sufficient amount of oxygen. Hypoxia can quickly result in developing permanent tissue damage or death. Currently, the medical methods of treating hypoxia are mechanical ventilation or extracorporeal membrane oxygenation. However, these treatments are ineffective in certain cases and possess significant additional risks including barotrauma, infection, hemorrhage, and thrombosis.

The extrapulmonary method of peritoneal oxygenation has been investigated by other research groups as a potential alternative to providing supplemental oxygen in hypoxic animals. In peritoneal oxygenation, the peritoneum, …

Design And Validation Of An In Vivo Long-Term Attachment Capsule Robot, Wanchuan Xie

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

The invention of capsule endoscopy (CE) made the non-invasive monitoring of the entire small bowel possible and became the primary means for diagnosing small bowel pathology. In the last decade, capsule robots have been transformed from diagnostic devices into a widely studied biomedical platform with the potential for active locomotion, drug delivery and therapeutic capabilities. To perform accurate on-site drug release and therapy, it is necessary for a capsule robot to be able to attach to the intestinal tissue and maintain its position long-term. Design challenges derive from the task of long-term mucosal adhesion which requires firm, quick-response attachment without …

A Novel Biochamberfor Modeling Of Atherosclerotic Arteries: In-Vitro Capabilities And Applications, Iman Salafian, Angelos Karagiannis, Benjamin S. Terry, Yiannis S. Chatzizisis

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Atherosclerosis is a chronic disease that involves the lipid accumulation and inflammation of the arterial wall [1,2]. Despite great efforts,its pathophysiology has not been fully elucidated. Existent drugs can reduce its progression but there are no available drugs to prevent its complications [3,4]. Atherosclerosis remains the leading global cause of death[5].

The purpose of this work is to design and build a customized biochamber which can be used for the following studies:

•Study the pathophysiology of atherosclerosis in vitro & ex vivo

•Investigate the mechanisms of atherosclerotic plaque disruption

•Examine the direct effect of different anti-atherosclerotic drugs on lesions

•Use …

Design Of A Flexible Control Platform And Miniature In Vivo Robots For Laparo-Endoscopic Single-Site Surgeries, Lou P. Cubrich

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures as well as benefits such as reducing scarring, infection, recovery time, and post-operative pain. While the procedures have many advantages, there are significant shortcomings such as limited instrument motion and reduced dexterity. In recent years, robotic surgical technology has overcome some of these limitations and has become an effective tool for many types of surgeries. These robotic platforms typically have an increased workspace, greater dexterity, improved ergonomics, and finer control than traditional laparoscopic methods. This thesis presents the designs of both a four degree-of-freedom (DOF) and 5-DOF …

Diffusion Modeling And Device Development For Peritoneal Membrane Oxygenation, Liana Hatoum

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Acute respiratory distress syndrome (ARDS) is a pulmonary disease that causes hypoxemia and respiratory failure. The mortality rate for ARDS ranges between 27% and 45%. Current treatments including mechanical ventilation and extracorporeal membrane oxygenation (ECMO) are often associated with high risk complications including barotrauma, infection, thrombosis, and hemorrhage. Alternative pulmonary support techniques are needed to improve the survival rate of patients suffering from ARDS. Previous studies introducing pure O₂ gas, perfluorocarbons and red blood cells into the intraperitoneal (IP) cavity have reported no effect or only a mild increase in oxygenation. Here we report peritoneal membrane oxygenation (PMO) using …

Design Of Medical Devices For Diagnostics In The Gastrointestinal System, Charles R. Welch

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

This thesis presents the design, controls, and testing of two systems: a novel colonoscope locomotion design for diagnostics, and a biosensor capsule that implants a sensor in the small intestine. Each system requires special design considerations for use in the gastrointestinal system.

Colonoscopy procedures are recommended as a screening for colon cancer and related conditions after the age of 50. The need for an improved colonoscope that reduces the colonoscopy time and patient discomfort is apparent. The semi-autonomous device presented here could likely reduce the colonoscopy procedure time by allowing the physician to focus more on the diagnosis and less …

An Experimental Study Of The Implementation Of A Fluid Diode Inside A Sano Shunt, Patrick Austin Lane

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Fluid diodes are fluidic devices that enhance fluid flow in a particular direction while inhibiting it in the opposite direction without the use of moving parts. This is accomplished through the use of nozzle shaped geometry on one side of the diode, and cusp shaped geometry on the opposing side. Fluid meets very little resistance as is travels though the nozzle side of the diode. The cusps on the other side of the diode reduce the effective flow area, thereby inhibiting flow. The objective of this study is to determine the effectiveness of a fluid diode installed in a reconstructed …

Design And Development Of A Miniature In Vivo Surgical Robot With Distributed Motor Control For Laparoendoscopic Single-Site Surgery, Eric J. Markvicka

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Paradigm shifts in invasiveness, recovery time, cosmesis, and cost have been seen within the field of general surgery through major advances in surgical technology. Some of the most advanced types of general surgery now include Minimally Invasive Surgery (MIS), LaparoEndoscopic Single-Site (LESS) surgery, and Natural Orifice Translumenal Endoscopic Surgery (NOTES). One of the newest and rapidly developing catalysts is robotic platforms. Such platforms have improved ergonomics and control, increased workspace and dexterity, and have surpassed the efficacy of many non-robotic platforms such as traditional laparoscopic surgical tools. This thesis presents the design and development of a four-degree-of-freedom (4- DOF) miniature …

Fluid Powered Miniature In-Vivo Robots For Minimally Invasive Surgery (Mis), Abolfazl Pourghodrat

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Minimizing the invasiveness of surgery is believed to improve patient outcomes. Bleeding, infection, and pain are major concerns in surgery afflicting patients for decades. Minimally invasive techniques have come into play to reduce these concerns and smooth the evolution of abdominal surgery to a scarless process where nearly all surgeries can be performed without a skin incision. Technology continually advances the frontier of development of novel surgical devices to implement less invasive surgical techniques.

Fusion of robotics and Minimally Invasive Surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems …

Near-Infrared Surface-Enhanced Fluorescence Using Silver Nanoparticles In Solution, Michael D. Furtaw

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Fluorescence spectroscopy is a widely used detection technology in many research and clinical assays. Further improvement to assay sensitivity may enable earlier diagnosis of disease, novel biomarker discovery, and ultimately, improved outcomes of clinical care along with reduction in costs. Near-infrared, surface-enhanced fluorescence (NIR-SEF) is a promising approach to improve assay sensitivity via simultaneous increase in signal with a reduction in background. This dissertation describes research conducted with the overall goal to determine the extent to which fluorescence in solution may be enhanced by altering specific variables involved in the formation of plasmonactive nanostructures of dye-labeled protein and silver nanoparticles …

Design Of A Compliant Underactuated Robotic Finger With Coordinated Stiffness, Etienne Dessauw

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

The concept of underactuation has been previously developed in the robotic field for grasping applications. For these anthropomorphic grippers, the minimization of the number of input signals, or in other words underactuation, is the most expected characteristic. This method has become very popular in recent decades. Indeed, by minimizing the number of input signals, it minimizes the complexity of the system’s control and at the same time avoids increased weight and cost. The inconvenience of such a technique is that the design of this type of system remains a difficult task if the behavior of the underactuated set of joints …

Design, Analysis And Testing Of Haptic Feedback System For Laparoscopic Graspers In In Vivo Surgical Robots, Nikhil Salvi

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Laparo-Endoscopic Single Site (LESS) Robotics Surgery is an advanced technology in the field of Minimally Invasive Surgery (MIS). The LESS surgical robots significantly improve the surgeon’s accuracy, dexterity and visualization, and reduce the invasiveness of surgical procedure results in faster recovery time and improved cosmetic results. In a standard robotic endosurgery, the palpation of tissues is performed by laparoscopic graspers located at the end effectors. The master-slave configuration in robotic surgery leads in remote access to the operation site. Therefore, surgeon’s ability to perceive valuable sensory information is severely diminished. Sensory information such as haptics, which is essential for safe …

Improving Health Care Quality And Safety: The Development And Assessment Of Laparoscopic Surgery Instrumentation, Practices And Procedures, Bernadette Mccrory

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Adverse events due to medical errors are a leading cause of death in the United States exceeding the mortality rates of motor vehicle accidents, breast cancer and AIDS. Improvements can and should be made to reduce the rates of preventable surgical errors since they account for nearly half of all adverse events within hospitals. Although minimally invasive surgery has proven patient benefits such as reduced postoperative pain and hospital stay, its operative environment imposes substantial physical and cognitive strain on the surgeon increasing the risk of error. In order to mitigate errors and protect patients, a multidisciplinary approach was taken …

Gas Embolic Factors In Cardiovascular Health, Eric L. Cutler

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Gas emboli are a clinical issue often encountered in the space exploration, marine construction, and medical fields. Individuals involved with these disciplines will often have asympomatic gas emboli circulating throughout their bodies on a regular basis. A study into the impact of chronic asymptomatic gas emboli on the risk of atherosclerosis in humans is thus presented. This research utilized a custom built cardiovascular flow simulator and accompanying data acquisition system to experimentally determine the influence of gas emboli under varied circumstances on the mean wall shear stress of a tube in-vitro. A directly inverse relationship between gas embolus presence in …

Towards Supervised Autonomous Task Completion Using An In Vivo Surgical Robot, Jason J. Dumpert

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Laparoscopy is a minimally invasive alternative to traditional abdominal surgery. Unlike traditional surgery, a laparoscopic procedure can be completed using small incisions. The use of these small incision results in reduced pain to the patient, shorter recovery times, and less trauma to skin, muscle and other tissues. However, these benefits to the patient are offset by the increased difficulty to the surgeon performing the procedure. These difficulties include reduced dexterity, reduced perception, and longer procedure times. The use of small in vivo robotic devices in minimally invasive surgery is one possible solution to these problems. The movement of these devices …