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Medicine and Health Sciences

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2011

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Full-Text Articles in Engineering

Clinical Coverage Of An Archetype Repository Over Snomed-Ct., Sheng Yu, Damon Berry, Jesus Bisbal Dec 2011

Clinical Coverage Of An Archetype Repository Over Snomed-Ct., Sheng Yu, Damon Berry, Jesus Bisbal

Articles

Clinical archetypes provide a means for health professionals to design what should be communicated as part of an Electronic Health Record (EHR). An ever-growing number of archetype definitions follow this health information modelling approach, and this international archetype resource will eventually cover a large number of clinical concepts. On the other hand, clinical terminology systems that can be referenced by archetypes also have a wide coverage over many types of health-care information.

No existing work measures the clinical content coverage of archetypes using terminology systems as a metric. Archetype authors require guidance to identify under-covered clinical areas that may need …


Combined Fluorescence And Reflectance Spectroscopy For In Vivo Quantification Of Cancer Biomarkers In Low- And High-Grade Glioma Surgery, Pablo A. ValdéS, Anthony Kim, Keith D. Paulsen, Frederic Leblond, Olga M. Conde, Brent T. Harris, David W. Roberts Nov 2011

Combined Fluorescence And Reflectance Spectroscopy For In Vivo Quantification Of Cancer Biomarkers In Low- And High-Grade Glioma Surgery, Pablo A. ValdéS, Anthony Kim, Keith D. Paulsen, Frederic Leblond, Olga M. Conde, Brent T. Harris, David W. Roberts

Dartmouth Scholarship

Biomarkers are indicators of biological processes and hold promise for the diagnosis and treatment of disease. Gliomas represent a heterogeneous group of brain tumors with marked intra- and inter-tumor variability. The extent of surgical resection is a significant factor influencing post-surgical recurrence and prognosis. Here, we used fluorescence and reflectance spectral signatures for in vivo quantification of multiple biomarkers during glioma surgery, with fluorescence contrast provided by exogenously-induced protoporphyrin IX (PpIX) following administration of 5-aminolevulinic acid. We performed light-transport modeling to quantify multiple biomarkers indicative of tumor biological processes, including the local concentration of PpIX and associated photoproducts, total hemoglobin …


2011 Scholars And Artists Bibliography, Michael Schwartz Library, Cleveland State University, Friends Of The Michael Schwartz Library, Mark Tebeau Oct 2011

2011 Scholars And Artists Bibliography, Michael Schwartz Library, Cleveland State University, Friends Of The Michael Schwartz Library, Mark Tebeau

Scholars and Artists Bibliographies

This bibliography was created for the annual Friends of the Michael Schwartz Library Scholars and Artists Reception, recognizing scholarly and creative achievements of Cleveland State University faculty, staff and emeriti. Mark Tebeau was the guest speaker


Thirdhand Tobacco Smoke: Emerging Evidence And Arguments For A Multidisciplinary Research Agenda, Georg E. Matt, Penelope J. Quintana, Hugo Destaillats, Lara A. Gundel, Mohamad Sleiman, Brett C. Singer, Peyton Jacob, Jonathan P. Winickoff, Prue Talbot, Suzaynn Schick, Yinsheng Wang, Bo Hang, Manuela Martins-Green, James F. Pankow, Melbourne F. Hovell, Neal L. Benowitz, Virender K. Rehan, Jonathan M. Samet Sep 2011

Thirdhand Tobacco Smoke: Emerging Evidence And Arguments For A Multidisciplinary Research Agenda, Georg E. Matt, Penelope J. Quintana, Hugo Destaillats, Lara A. Gundel, Mohamad Sleiman, Brett C. Singer, Peyton Jacob, Jonathan P. Winickoff, Prue Talbot, Suzaynn Schick, Yinsheng Wang, Bo Hang, Manuela Martins-Green, James F. Pankow, Melbourne F. Hovell, Neal L. Benowitz, Virender K. Rehan, Jonathan M. Samet

Civil and Environmental Engineering Faculty Publications and Presentations

There is broad consensus regarding the health impact of tobacco use and secondhand smoke exposure, yet considerable ambiguity exists about the nature and consequences of thirdhand smoke (THS). We introduce definitions of THS and THS exposure and review recent findings about constituents, indoor sorption-desorption dynamics, and transformations of THS; distribution and persistence of THS in residential settings; implications for pathways of exposure; potential clinical significance and health effects; and behavioral and policy issues that affect and are affected by THS. Physical and chemical transformations of tobacco smoke pollutants take place over time scales ranging from seconds to months and include …


Left Ventricular Assist Devices: Engineering Design Considerations, Marwan A. Simaan, Eduardo Divo, George Faragallah, Yu Wang Aug 2011

Left Ventricular Assist Devices: Engineering Design Considerations, Marwan A. Simaan, Eduardo Divo, George Faragallah, Yu Wang

Publications

Patients with end-stage congestive heart failure awaiting heart transplantation often wait long periods of time (300 days or more on the average) before a suitable donor heart becomes available. The medical community has placed increased emphasis on the use of Left Ventricular Assist Devices or LVADs that can substitute for, or enhance, the function of the natural heart while the patient is waiting for the heart transplant (Poirier, 1997; Frazier & Myers, 1999). Essentially, a rotary LVAD is a pump that operates continuously directing blood from the left ventricle into the aorta by avoiding the aortic valve. Generally speaking, the …


Transcriptome Sequencing Of The Blind Subterranean Mole Rat, Spalax Galili: Utility And Potential For The Discovery Of Novel Evolutionary Patterns, Assaf Malik, Abraham Korol, Sariel Hubner, Aaron Avivi, Alvaro Hernandez, Jyothi Thimmapuram, Shahjahan Ali, Mark Bond, Fabian Glaser, Arnon Paz Aug 2011

Transcriptome Sequencing Of The Blind Subterranean Mole Rat, Spalax Galili: Utility And Potential For The Discovery Of Novel Evolutionary Patterns, Assaf Malik, Abraham Korol, Sariel Hubner, Aaron Avivi, Alvaro Hernandez, Jyothi Thimmapuram, Shahjahan Ali, Mark Bond, Fabian Glaser, Arnon Paz

Cyber Center Publications

The blind subterranean mole rat (Spalax ehrenbergi superspecies) is a model animal for survival under extreme environments due to its ability to live in underground habitats under severe hypoxic stress and darkness. Here we report the transcriptome sequencing of Spalax galili, a chromosomal type of S. ehrenbergi. cDNA pools from muscle and brain tissues isolated from animals exposed to hypoxic and normoxic conditions were sequenced using Sanger, GS FLX, and GS FLX Titanium technologies. Assembly of the sequences yielded over 51,000 isotigs with homology to ~12,000 mouse, rat or human genes. Based on these results, it was …


A System Dynamics Model Of Pharmaceutical Opioids: Medical Use, Diversion, And Nonmedical Use, Teresa Schmidt, Wayne Wakeland, J. David Haddox Jul 2011

A System Dynamics Model Of Pharmaceutical Opioids: Medical Use, Diversion, And Nonmedical Use, Teresa Schmidt, Wayne Wakeland, J. David Haddox

Systems Science Faculty Publications and Presentations

A dramatic rise in the nonmedical of pharmaceutical opioids has presented the United States with a substantial public health problem. Nonmedical use of prescription pain relievers has become increasingly prevalent in the US over the last two decades, and diversion of medicines obtained by prescription is assumed to be a major source of supply for nonmedical opioid use. Policymakers striving to protect population health by ameliorating the adverse outcomes of nonmedical use of opioid analgesics could benefit from a systems-level model which reflects the complexity of the system and incorporates the full range of available data. To address this need, …


Use Of Imaging Biomarkers To Assess Perfusion And Glucose Metabolism In The Skeletal Muscle Of Dystrophic Mice, Nabeel Ahmad, Ian Welch, Robert Grange, Jennifer Hadway, Savita Dhanvantari, David Hill, Ting-Yim Lee, Lisa M Hoffman Jun 2011

Use Of Imaging Biomarkers To Assess Perfusion And Glucose Metabolism In The Skeletal Muscle Of Dystrophic Mice, Nabeel Ahmad, Ian Welch, Robert Grange, Jennifer Hadway, Savita Dhanvantari, David Hill, Ting-Yim Lee, Lisa M Hoffman

Robarts Imaging Publications

BACKGROUND: Duchenne muscular dystrophy (DMD) is a severe neuromuscular disease that affects 1 in 3500 boys. The disease is characterized by progressive muscle degeneration that results from mutations in or loss of the cytoskeletal protein, dystrophin, from the glycoprotein membrane complex, thus increasing the susceptibility of contractile muscle to injury. To date, disease progression is typically assessed using invasive techniques such as muscle biopsies, and while there are recent reports of the use of magnetic resonance, ultrasound and optical imaging technologies to address the issue of disease progression and monitoring therapeutic intervention in dystrophic mice, our study aims to validate …


A Review Focused On The Psychological Effectiveness Of Tai Chi On Different Populations, Long Zhang, Thomas Lowder, Jian Liu May 2011

A Review Focused On The Psychological Effectiveness Of Tai Chi On Different Populations, Long Zhang, Thomas Lowder, Jian Liu

Computer Sciences and Electrical Engineering Faculty Research

As a popular exercise form, Tai Chi (TC) has been investigated to determine its contributions to an active and healthy lifestyle. There are an increasing number of researchers who focus on exploring the potential physiological and psychological benefits of TC but only a few systematic reviews of these benefits to a variety of populations. The purpose of this paper is to comprehensively evaluate the reported psychological benefits associated with practicing TC. Although many investigators have reported possible psychological benefits of TC for children, young adults, older healthy adults, and for a variety of patient populations, many of the reports suffer …


8th Annual Symposium Of The School Of Science, Engineering And Health, Messiah College Apr 2011

8th Annual Symposium Of The School Of Science, Engineering And Health, Messiah College

School of Science, Engineering & Health (SEH) Symposium

This symposium continues a strong tradition of annual events designed to showcase student and faculty innovation, creativity and productivity. However, it is the first that we are holding as a newly re-organized School of Science, Engineering and Health.


Scholar Week, Gregg Chenoweth Apr 2011

Scholar Week, Gregg Chenoweth

Scholar Week Archives (2011-2015)

During Scholar Week we take inspiration from 18th century preacher-scholar |ohn Wesley. As “a denominational university in the Wesleyan tradition,” scholarship and piety are thoroughly compatible here. So, in Scholar Week we tune our ear to the gong and echo of Wesley. It is not just history, but his story, even to this day. In our own scholarship projects we join a great cloud of Christians not educated out of their faith, but fashioning an educated faith, where the love of the Lord by heart, soul, strength, and mind is our great and worthy cause.


Orchardgrass (Dactylis Glomerata L.) Est And Ssr Marker Development, Annotation, And Transferability., B.S. Bushman, S.R. Larson, M Tuna, M.S. West, A.G. Hernandez, D Vullaganti, G Gong, J.G. Robbins, K. B. Jensen, Jyothi Thimmapuram Apr 2011

Orchardgrass (Dactylis Glomerata L.) Est And Ssr Marker Development, Annotation, And Transferability., B.S. Bushman, S.R. Larson, M Tuna, M.S. West, A.G. Hernandez, D Vullaganti, G Gong, J.G. Robbins, K. B. Jensen, Jyothi Thimmapuram

Cyber Center Publications

Orchardgrass, or cocksfoot [Dactylis glomerata (L.)], has been naturalized on nearly every continent and is a commonly used species for forage and hay production. All major cultivated varieties of orchardgrass are autotetraploid, and few tools or information are available for functional and comparative genetic analyses and improvement of the species. To improve the genetic resources for orchardgrass, we have developed an EST library and SSR markers from salt, drought, and cold stressed tissues. The ESTs were bi-directionally sequenced from clones and combined into 17,373 unigenes. Unigenes were annotated based on putative orthology to genes from rice, Triticeae grasses, other Poaceae, …


Numerical Prediction Of The Haemodynamic Impact Of Coronary Stent Implantation, Jonathan Murphy Apr 2011

Numerical Prediction Of The Haemodynamic Impact Of Coronary Stent Implantation, Jonathan Murphy

Doctoral

Arterial restenosis limits the effectiveness of coronary stenting. Restenosis is caused by excessive tissue growth which is stimulated by arterial injury and alterations to the arterial WSS. The altered WSS results from stent-induced disturbances to the natural haelnodynamics of the artery. Recent numerical studies have predcted only minor digerences in altered WSS between different stent designs using a commonly employed threshold assessment technique. While it is possible that there are only minor differences, it is more likely that the assessment technique is incapable of fully elucidating the altered WSS created by stent implantation. This thesis proposes a methodology that involves …


Topscholar®, Creating Opportunities [Brochure], Connie Foster, Jennifer Wilson Apr 2011

Topscholar®, Creating Opportunities [Brochure], Connie Foster, Jennifer Wilson

TopSCHOLAR® Presentations and Reports

No abstract provided.


Evaluation Of A Novel Non-Penetrating Electrode For Use In Dna Vaccination, Amy Donate, Domenico Coppola, Yolmari Cruz, Richard Heller Apr 2011

Evaluation Of A Novel Non-Penetrating Electrode For Use In Dna Vaccination, Amy Donate, Domenico Coppola, Yolmari Cruz, Richard Heller

Bioelectrics Publications

Current progress in the development of vaccines has decreased the incidence of fatal and non-fatal infections and increased longevity. However, new technologies need to be developed to combat an emerging generation of infectious diseases. DNA vaccination has been demonstrated to have great potential for use with a wide variety of diseases. Alone, this technology does not generate a significant immune response for vaccination, but combined with delivery by electroporation (EP), can enhance plasmid expression and immunity. Most EP systems, while effective, can be invasive and painful making them less desirable for use in vaccination. Our lab recently developed a non-invasive …


Topscholar® Creating Opportunities [2011 Brochure], Connie Foster, Jennifer Wilson Mar 2011

Topscholar® Creating Opportunities [2011 Brochure], Connie Foster, Jennifer Wilson

TopSCHOLAR® Presentations and Reports

No abstract provided.


Intelligibility Of Electrolarynx Speech Using A Novel Hands-Free Actuator, Brian Madden, Mark Nolan, Ted Burke, James Condron, Eugene Coyle Jan 2011

Intelligibility Of Electrolarynx Speech Using A Novel Hands-Free Actuator, Brian Madden, Mark Nolan, Ted Burke, James Condron, Eugene Coyle

Conference Papers

During voiced speech, the larynx provides quasi-periodic acoustic excitation of the vocal tract. In most electrolarynxes, mechanical vibrations are produced by a linear electromechanical actuator, the armature of which percusses against a metal or plastic plate at a frequency within the range of glottal excitation. In this paper, the intelligibility of speech produced using a novel hands-free actuator is compared to speech produced using a conventional electrolarynx. Two able-bodied speakers (one male, one female) performed a closed response test containing 28 monosyllabic words, once using a conventional electrolarynx and a second time using the novel design. The resulting audio recordings …


Augmented Control Of A Hands-Free Electrolarynx, Brian Madden, James Condron, Eugene Coyle Jan 2011

Augmented Control Of A Hands-Free Electrolarynx, Brian Madden, James Condron, Eugene Coyle

Conference Papers

During voiced speech, the larynx acts as the sound source, providing a quasi-periodic excitation of the vocal tract. Following a total laryngectomy, some people speak using an electrolarynx which employs an electromechanical actuator to perform the excitatory function of the absent larynx. Drawbacks of conventional electrolarynx designs include the monotonic sound emitted, the need for a free-hand to operate the device, and the difficulty experienced by many laryngectomees in adapting to its use. One improvement to the electrolarynx, which clinicians and users frequently suggest, is the provision of a convenient hands-free control facility. This would allow more natural use of …


High-Frequency Ultrasound For Intraoperative Margin Assessments In Breast Conservation Surgery: A Feasibility Study, Timothy E. Doyle, Rachel E. Factor, Christina L. Ellefson, Kristina M. Sorensen, Brady J. Ambrose, Jeffrey B. Goodrich, Vern P. Hart, Scott C. Jensen, Hemang Patel, Leigh A. Neumayer Jan 2011

High-Frequency Ultrasound For Intraoperative Margin Assessments In Breast Conservation Surgery: A Feasibility Study, Timothy E. Doyle, Rachel E. Factor, Christina L. Ellefson, Kristina M. Sorensen, Brady J. Ambrose, Jeffrey B. Goodrich, Vern P. Hart, Scott C. Jensen, Hemang Patel, Leigh A. Neumayer

Wayne State University Associated BioMed Central Scholarship

Abstract

Background

In addition to breast imaging, ultrasound offers the potential for characterizing and distinguishing between benign and malignant breast tissues due to their different microstructures and material properties. The aim of this study was to determine if high-frequency ultrasound (20-80 MHz) can provide pathology sensitive measurements for the ex vivo detection of cancer in margins during breast conservation surgery.

Methods

Ultrasonic tests were performed on resected margins and other tissues obtained from 17 patients, resulting in 34 specimens that were classified into 15 pathology categories. Pulse-echo and through-transmission measurements were acquired from a total of 57 sites on the …


Eastern Michigan University Undergraduate Catalog, 2011-2012, Office Of The Registrar Jan 2011

Eastern Michigan University Undergraduate Catalog, 2011-2012, Office Of The Registrar

Undergraduate Catalogs

No abstract provided.


Eastern Michigan University Undergraduate Catalog, 2011-2012, Office Of The Registrar Jan 2011

Eastern Michigan University Undergraduate Catalog, 2011-2012, Office Of The Registrar

Undergraduate Catalogs

No abstract provided.


Eastern Ichigan University Graduate Catalog, 2011-2012, Office Of The Registrar Jan 2011

Eastern Ichigan University Graduate Catalog, 2011-2012, Office Of The Registrar

Graduate Catalogs

No abstract provided.


The Influence Of Macrophage Depletion On Ligament Healing, Connie S. Chamberlain, Ellen M. Leiferman, Kayt E. Frisch, Sijian Wang, Xipei Yang, Nico Van Rooijen, Geoff S. Baer, Stacey L. Brickson, Ray Vanderby Jan 2011

The Influence Of Macrophage Depletion On Ligament Healing, Connie S. Chamberlain, Ellen M. Leiferman, Kayt E. Frisch, Sijian Wang, Xipei Yang, Nico Van Rooijen, Geoff S. Baer, Stacey L. Brickson, Ray Vanderby

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Despite a complex cascade of cellular events to reconstruct damaged extracellular matrix (ECM), ligament healing results in a mechanically inferior, scar-like tissue. During normal healing, the number of macrophages significantly increases within the wound site. Then, granulation tissue expands into any residual, normal ligamentous tissue (creeping substitution), resulting in a larger region of healing, greater mechanical compromise, and an inefficient repair process. To study the effects of macrophages on the repair process, bilateral, surgical rupture of their medial collateral ligaments (MCLs) was done on rats. Treatment animals received liposome-encapsulated clodronate, 2 days before rupture to ablate phagocytosing macrophages. Ligaments were …


The Influence Of Interleukin-4 On Ligament Healing, Connie S. Chamberlain, Ellen M. Leiferman, Kayt E. Frisch, Sijian Wang, Xipei Yang, Stacey L. Brickson, Ray Vanderby Jan 2011

The Influence Of Interleukin-4 On Ligament Healing, Connie S. Chamberlain, Ellen M. Leiferman, Kayt E. Frisch, Sijian Wang, Xipei Yang, Stacey L. Brickson, Ray Vanderby

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Despite a complex cascade of cellular events to reconstruct the damaged extracellular matrix, ligament healing results in a mechanically inferior scarred ligament. During normal healing, granulation tissue expands into any residual normal ligamentous tissue (creeping substitution), resulting in a larger region of healing, greater mechanical compromise and an inefficient repair process. To control creeping substitution and possibly enhance the repair process, the antiinflammatory cytokine, interleukin-4 (IL-4), was administered to rats before and after rupture of their medial collateral ligaments. In vitro experiments showed a time-dependent effect on fibroblast proliferation after IL-4 treatment. In vivo treatments with IL-4 (100 ng/mL IV) …


Ultrasound Echo Is Related To Stress And Strain In Tendon, Sarah Duenwald, Hirohito Kobayashi, Kayt E. Frisch, Roderic Lakes, Ray Vanderby Jr. Jan 2011

Ultrasound Echo Is Related To Stress And Strain In Tendon, Sarah Duenwald, Hirohito Kobayashi, Kayt E. Frisch, Roderic Lakes, Ray Vanderby Jr.

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

The mechanical behavior of tendons has been well studied in vitro. A noninvasive method to acquire mechanical data would be highly beneficial. Elastography has been a promising method of gathering in vivo tissue mechanical behavior, but it has inherent limitations. This study presents acoustoelasticity as an alternative ultrasound-based method of measuring tendon stress and strain by reporting a relationship between ultrasonic echo intensity (B-mode ultrasound image brightness) and mechanical behavior of tendon in vitro. Porcine digital flexor tendons were cyclically loaded in a mechanical testing system while an ultrasonic echo response was recorded. We report that echo intensity …


Custom-Molded Foot-Orthosis Intervention And Multisegment Medial Foot Kinematics During Walking, Mark Geil Jan 2011

Custom-Molded Foot-Orthosis Intervention And Multisegment Medial Foot Kinematics During Walking, Mark Geil

Faculty and Research Publications

No abstract provided.


Identification And Analysis Of Common Bean (Phaseolus Vulgaris L.) Transcriptomes By Massively Parallel Pyrosequencing, Venu Kalavacharla, Zhanji Liu, Blake C. Meyers, Jyothi Thimmapuram, Kalpalatha Melmaiee Jan 2011

Identification And Analysis Of Common Bean (Phaseolus Vulgaris L.) Transcriptomes By Massively Parallel Pyrosequencing, Venu Kalavacharla, Zhanji Liu, Blake C. Meyers, Jyothi Thimmapuram, Kalpalatha Melmaiee

Cyber Center Publications

Common bean (Phaseolus vulgaris) is the most important food legume in the world. Although this crop is very important to both the developed and developing world as a means of dietary protein supply, resources available in common bean are limited. Global transcriptome analysis is important to better understand gene expression, genetic variation, and gene structure annotation in addition to other important features. However, the number and description of common bean sequences are very limited, which greatly inhibits genome and transcriptome research. Here we used 454 pyrosequencing to obtain a substantial transcriptome dataset for common bean.


Privacy-Preserving Assessment Of Location Data Trustworthiness, Chenyun Dai, Fang-Yu Rao, Gabriel Ghinita, Elisa Bertino Jan 2011

Privacy-Preserving Assessment Of Location Data Trustworthiness, Chenyun Dai, Fang-Yu Rao, Gabriel Ghinita, Elisa Bertino

Cyber Center Publications

Assessing the trustworthiness of location data corresponding to individuals is essential in several applications, such as forensic science and epidemic control. To obtain accurate and trustworthy location data, analysts must often gather and correlate information from several independent sources, e.g., physical observation, witness testimony, surveillance footage, etc. However, such information may be fraudulent, its accuracy may be low, and its vol-
ume may be insufficient to ensure highly trustworthy data. On the other hand, recent advancements in mobile computing and positioning systems, e.g., GPS-enabled cell phones, highway sensors, etc., bring new and effective technological means to track the location of …


Prox-Rbac: A Proximity-Based Spatially Aware Rbac, Michael Kirkpatrick, Maria Luisa Damiani, Elisa Bertino Jan 2011

Prox-Rbac: A Proximity-Based Spatially Aware Rbac, Michael Kirkpatrick, Maria Luisa Damiani, Elisa Bertino

Cyber Center Publications

As mobile computing devices are becoming increasingly dominant in enterprise and government organizations, the need for fine-grained access control in these environments continues to grow. Specifically, advanced forms of access control can be deployed to ensure authorized users can access sensitive resources only when in trusted locations. One technique that has been proposed is to augment role-based access control (RBAC) with spatial constraints. In such a system, an authorized user must be in a designated location in order to exercise the privileges associated with a role. In this work, we extend spatially aware RBAC systems by defining the notion of …


An Integrated Computer-Aided Robotic System For Dental Implantation, Xiaoyan Sun, Yongki Yoon, Jiang Li, Frederic D. Mckenzie Jan 2011

An Integrated Computer-Aided Robotic System For Dental Implantation, Xiaoyan Sun, Yongki Yoon, Jiang Li, Frederic D. Mckenzie

Electrical & Computer Engineering Faculty Publications

This paper describes an integrated system for dental implantation including both preoperative planning utilizing computer-aided technology and automatic robot operation during the intra-operative stage. A novel two-step registration procedure was applied for transforming the preoperative plan to the operation of the robot, with the help of a Coordinate Measurement Machine (CMM). Experiments with a patient-specific phantom were carried out to evaluate the registration error for both position and orientation. After adopting several improvements, registration accuracy of the system was significantly improved. Sub-millimeter accuracy with the Target Registration Errors (TREs) of 0.38±0.16 mm (N=5) was achieved. The target orientation errors after …