Mechanical Engineering Commons^™

Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon

Electronic Thesis and Dissertation Repository

Musculoskeletal disorders are the biggest cause of disability worldwide, and wearable mechatronic rehabilitation devices have been proposed for treatment. However, before widespread adoption, improvements in user control and system adaptability are required. User intention should be detected intuitively, and user-induced changes in system dynamics should be unobtrusively identified and corrected. Developments often focus on model-dependent nonlinear control theory, which is challenging to implement for wearable devices.

One alternative is to incorporate bioelectrical signal-based machine learning into the system, allowing for simpler controller designs to be augmented by supplemental brain (electroencephalography/EEG) and muscle (electromyography/EMG) information. To extract user intention better, sensor …

Motion And Crosslinked Polyethylene Wear In Reverse Total Shoulder Arthroplasty, Christopher Millward

Electronic Thesis and Dissertation Repository

The reverse total shoulder arthroplasty (RTSA) has quickly grown to become the most commonly used shoulder arthroplasty design; however, reports have shown evidence of RTSA failures related to polyethylene wear and damage. Therefore, the present work investigated the wear of crosslinked polyethylene (XLPE) in environments similar to that of an in vivo RTSA. Additionally, a computational model was developed based on a previous study of the shoulder motions obtained from a selection of typical patients with RTSA. This model quantified the amount of glenohumeral motion that an RTSA may be subjected to in vivo and provided an approximate value for …

Biomaterial For Cervical Intervertebral Disc Prosthesis, Helium Mak

Electronic Thesis and Dissertation Repository

Recent long-term follow-up studies have shown that the cervical disc arthroplasty treatment have potentials in developing surrounding heterotopic ossification (HO). While its cause requires further investigation, this thesis has hypothesized that it may be the result of the continual remodeling of the injured vertebrae caused by the prostheses with smaller footprints introducing abnormal stresses. The research objective of this thesis is to develop a new prosthesis material that can be molded into any form conforming to the size and shape of the end-plates of the affected patient vertebrae. For prototype development, a composite material consisting of 10wt% polyvinyl alcohol cryogel …

Development Of A Wireless Telemetry Load And Displacement Sensor For Orthopaedic Applications, William Anderson

Electronic Thesis and Dissertation Repository

Due to sensor size and supporting circuitry, in vivo load and deformation measurements are currently restricted to applications within larger orthopaedic implants. The objective of this thesis is to repurpose a commercially available low-power, miniature, wireless, telemetric, tire-pressure sensor (FXTH87) to measure load and deformation for future use in biomechanical applications. The capacitive transducer membrane of the FXTH87 was modified, and a relationship was reported between applied compressive deformation and sensor signal value. The sensor package was embedded within a deformable enclosure to illustrate potential applications of the sensor for monitoring load. Finite element analysis was an effective tool to …

Development Of A Wearable Haptic Feedback Device For Upper Limb Prosthetics Through Sensory Substitution, Marco B.S. Gallone

Electronic Thesis and Dissertation Repository

Haptics can enable a direct communication pipeline between the artificial limb and the brain; adding haptic sensory feedback for prosthesis wearers is believed to improve operation without drawing too much of the user's attention. Through neuroplasticity, the brain can become more cognizant of the information delivered through the skin and may eventually interpret it as inherently as other natural senses. In this thesis, a wearable haptic feedback device (WHFD) is developed to communicate prosthesis sensory information. A 14-week, 6-stage, between subjects study was created to investigate the learning trajectory as participants were stimulated with haptic patterns conveying joint proprioception. 37 …

A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou

Electronic Thesis and Dissertation Repository

Tremor, one of the most disabling symptoms of Parkinson's disease (PD), significantly affects the quality of life of the individuals who suffer from it. These people live with difficulties with fine motor tasks, such as eating and writing, and suffer from social embarrassment. Traditional medicines are often ineffective, and surgery is highly invasive and risky. The emergence of wearable technology facilitates an externally worn mechatronic tremor suppression device as a potential alternative approach for tremor management. However, no device has been developed for the suppression of finger tremor that has been validated on a human.

It has been reported in …

An In-Silico Assessment Of Stemless Shoulder Arthroplasty: From Ct To Predicted Bone Response, Jacob M. Reeves

Electronic Thesis and Dissertation Repository

Despite the emergence of stemless humeral implants that utilize short fixation features to gain purchase solely in the metaphysis, the literature contains little information regardingthe morphology and mechanical properties of the humerus’ proximal trabecular-canal, and how stemless implants impact bone response. The present work employs in-silicotools, including CT-based and Finite Element (FE) methods, to define parameters that may influence stemless implant design.

The density and morphology of the proximal humerus were assessed using CT-derived point clouds of the trabecular-canal. Bone density was found to diminish 15-20mm beneath the humeral head resection and was greater peripherally. The depth, path and bounding …

Towards The Development Of A Wearable Tremor Suppression Glove, Yue Zhou

Electronic Thesis and Dissertation Repository

Patients diagnosed with Parkinson’s disease (PD) often associate with tremor. Among other symptoms of PD, tremor is the most aggressive symptom and it is difficult to control with traditional treatments. This thesis presents the assessment of Parkinsonian hand tremor in both the time domain and the frequency domain, the performance of a tremor estimator using different tremor models, and the development of a novel mechatronic transmission system for a wearable tremor suppression device. This transmission system functions as a mechatronic splitter that allows a single power source to support multiple independent applications. Unique features of this transmission system include low …

Force Sensing In Arthroscopic Instruments Using Fiber Bragg Gratings, Daniel S. Yurkewich

Electronic Thesis and Dissertation Repository

Minimally-invasive surgery has revolutionized many medical procedures; however, it also impedes the ability to feel the interaction between the surgical tool and the anatomical part being operated on. In order to address this problem, it is necessary to obtain accurate measurements of the interaction forces exerted on the surgical tools during surgery. These forces can then be manifested to the surgeon via a haptic device or presented visually (visual-force feedback). This thesis describes the use of a fiber optic device to measure and display to the surgeon interaction forces acting on an arthroscopic tool. The sensorization of the tool involves …

On The Application Of Mechanical Vibration In Robotics-Assisted Soft Tissue Intervention, Iman Khalaji

Electronic Thesis and Dissertation Repository

Mechanical vibration as a way of transmitting energy has been an interesting subject to study. While cyclic oscillation is usually associated with fatigue effect, and hence a detrimental factor in failure of structures and machineries, by controlled transmission of vibration, energy can be transferred from the source to the target. In this thesis, the application of such mechanical vibration in a few surgical procedures is demonstrated.

Three challenges associated with lung cancer diagnosis and treatment are chosen for this purpose, namely, Motion Compensation, tumor targeting in lung Needle Insertion and Soft Tissue Dissection:

1. A robotic solution is proposed …

Design Of A Haptic Interface For Medical Applications Using Magneto-Rheological Fluid Based Actuators, Nima Najmaei

Electronic Thesis and Dissertation Repository

This thesis reports on the design, construction, and evaluation of a prototype two degrees-of-freedom (DOF) haptic interface, which takes advantage of Magneto-Rheological Fluid (MRF) based clutches for actuation. Haptic information provides important cues in teleoperated systems and enables the user to feel the interaction with a remote or virtual environment during teleoperation. The two main objectives in designing a haptic interface are stability and transparency. Indeed, deficiencies in these factors in haptics-enabled telerobotic systems has the introduction of haptics in medical environments where safety and reliability are prime considerations. An actuator with poor dynamics, high inertia, large size, and heavy …

Numerical Investigation Of The Interdependence Between Humeral Implant Position And Bone Removal Amount For Total Elbow Arthroplasty, Alexander J. Heroux

Electronic Thesis and Dissertation Repository

Total elbow arthroplasty is a surgical procedure used to replace an afflicted articulation with prosthetic joint components. A good alignment between the native and prosthetic flexion-extension axes of the elbow is required to preserve its functionality. However, this is often unobtainable because of the mismatch between humeral canal and implant stem geometries. To correct this, surgeons are often required to intraoperatively make error-prone decisions when determining an appropriate implant posture that minimizes the amount of cortical bone to be removed while maintaining the alignment between the two flexion-extension axes. To address this issue, the present study has developed computational tools …

Design Of A Minimally Invasive Single Port Hdr Brachytherapy Applicator For The Treatment Of Lung Cancer, Mauricio Nahum Leroy

Electronic Thesis and Dissertation Repository

Cancer has become the number one cause of death in Canada and lung cancer is its deadliest form. Surgical resection remains as the treatment of choice for most patients; however, in many cases a less aggressive alternative such as brachytherapy may be preferable. Today, HDR brachytherapy is a relatively common procedure but with current techniques and equipment only tumours close to the main bronchi can be reached.

This project describes the design, development and validation of a first prototype of an ultrasound-guided needle guidance system that would enable physicians to perform HDR brachytherapy for the treatment of lung cancer in …

An Investigation Of Subaxial Cervical Spine Trauma And Surgical Treatment Through Biomechanical Simulation And Kinematic Analysis, Stewart D. Mclachlin

Electronic Thesis and Dissertation Repository

In vitro biomechanical investigations can help to identify changes in subaxial cervical spine (C3-C7) stability following injury, and determine the efficacy of surgical treatments through controlled joint simulation experiments and kinematic analyses. However, with the large spectrum of cervical spine trauma, a large fraction of the potential injuries have not been examined biomechanically. This includes a lack of studies investigating prevalent flexion-distraction injuries. Therefore, the overall objective of this thesis was to investigate the changes in subaxial cervical spine kinematic stability with simulated flexion-distraction injuries and current surgical instrumentation approaches using both established and novel biomechanical techniques.

Three in vitro …

Optimal Inertial Sensor Placement And Motion Detection For Epileptic Seizure Patient Monitoring, Babak Kamalizonouzi

Electronic Thesis and Dissertation Repository

Use of inertial sensory systems to monitor and detect seizure episodes in patients suffering from epilepsy is investigated via numerical simulations and experiments. Numerical simulations employ a mathematical model that is able to predict human body dynamic responses during a typical epileptic seizure. An optimized inertial sensor placement procedure is developed to address achievement of highest possible sensing resolution in determining angular accelerations with minimal errors. In addition, a joint torque estimation procedure is formulated to assist in the future development of a possible detection scheme. Experimental motion data obtained from an epileptic seizure patient as well as a healthy …

Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena

Electronic Thesis and Dissertation Repository

In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …