Biomedical Devices and Instrumentation Commons^™

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 …

Preliminary Test Of A Real-Time, Interactive Silent Speech Interface Based On Electromagnetic Articulograph, Jun Wang, Ashok Samal, Jordan R. Green

School of Computing: Conference and Workshop Papers

A silent speech interface (SSI) maps articulatory movement data to speech output. Although still in experimental stages, silent speech interfaces hold significant potential for facilitating oral communication in persons after laryngectomy or with other severe voice impairments. Despite the recent efforts on silent speech recognition algorithm development using offline data analysis, online test of SSIs have rarely been conducted. In this paper, we present a preliminary, online test of a real-time, interactive SSI based on electromagnetic motion tracking. The SSI played back synthesized speech sounds in response to the user’s tongue and lip movements. Three English talkers participated in this …

Head Impact Exposure In Male And Female Collegiate Ice Hockey Players, Bethany J. Wilcox, Jonathan G. Beckwith, Richard M. Greenwald, Jeffrey J. Chu, Thomas W. Mcallister, Laura A. Flashman, Arthur C. Maerlender, Ann-Christine Duhaime, Joseph J. Crisco

Department of Psychology: Faculty Publications

The purpose of this study was to quantify head impact exposure (frequency, location and magnitude of head impacts) for individual male and female collegiate ice hockey players and to investigate differences in exposure by sex, player position, session type, and team. Ninety-nine (41 male, 58 female) players were enrolled and 37,411 impacts were recorded over three seasons. Frequency of impacts varied significantly by sex (males: 287 per season, females: 170, p < 0.001) and helmet impact location (p < 0.001) but not by player position (p = 0.088). Head impact frequency also varied by session type; both male and female players sustained more impacts in games than in practices (p < 0.001), however the magnitude of impacts did not differ between session types. There was no difference in 95th percentile peak linear acceleration between sexes (males: 41.6 g, females: 40.8 g), but 95th percentile peak rotational acceleration and HITsp (a composite severity measure) were greater for males than females (4424, 3409 rad/s2, and 25.6, 22.3, respectively). Impacts to the back of the helmet resulted in the greatest 95th percentile peak linear accelerations for males (45.2 g) and females (50.4 g), while impacts to the side and back of the head were associated with the greatest 95th percentile peak rotational accelerations (males: 4719, 4256 rad/sec², females: 3567, 3784 rad/sec², respectively). It has been proposed that reducing an individual’s head impact exposure is a practical approach for reducing the risk of …

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 …

Morphometric, Biochemical, And Raman Spctral Analyses Of Muscle Damage In Patients With Peripheral Arterial Disease: Provising Objective Criteria For Diagnosis And Treatment Monitoring, Kim Cluff

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Peripheral arterial disease (PAD), which affects approximately 10 million Americans, is characterized by atherosclerosis of the non-coronary arteries. PAD produces a progressive accumulation of ischemic injury to the limbs that is reflected in a gradual worsening in the myofiber morphology and oxidative damage in the gastrocnemius muscle. In this study, we evaluated the hypothesis that quantitative morphological and biochemical parameters of gastrocnemius myofibers change in a consistent manner during the progression of PAD, provide an objective grading of muscle degeneration in the ischemic limb, and correlate to clinical stage of PAD. Myofiber morphometrics were determined precisely with mathematical equations that …

On The Importance Of Modeling Stent Procedure For Predicting Arterial Mechanics, Shijia Zhao, Linxia Gu, Stacey R. Froemming

Department of Mechanical and Materials Engineering: Faculty Publications

The stent-artery interactions have been increasingly studied using the finite element method for better understanding of the biomechanical environment changes on the artery and its implications. However, the deployment of balloon-expandable stents was generally simplified without considering the balloon-stent interactions, the initial crimping process of the stent, its overexpansion routinely used in the clinical practice, or its recoil process. In this work, the stenting procedure was mimicked by incorporating all the above-mentioned simplifications. The impact of various simplifications on the stent-induced arterial stresses was systematically investigated. The plastic strain history of stent and its resulted geometrical variations, as well as …

Two-Dimensional Blood Flow Velocity Estimation Using Ultrasound Speckle Pattern Dependence On Scan Direction And Velocity, Tiantian Xu

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Cardiovascular disease is the leading cause death in the United States. Although emergency surgery and medicine can be used for cardiovascular disease treatment, the survivors will suffer for it afterwards. Ultrasound blood flow measurement provides a noninvasive way for cardiovascular diseases diagnosis. In this dissertation, three algorithms for blood flow velocity measurements were investigated and optimized. Feature tracking has been previously proposed for vector velocity measurement. In Chapter 3, the optimal amplitude and time thresholds for feature extraction were investigated to minimize flow estimate variance while providing sufficient spatial and temporal coverage of flow area. A new method of lateral …

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 …

Effect Of Extracellular Matrix (Ecm) Protein Micropatterns On The Behavior Of Human Neuroblastoma Cells, Ishwari Poudel

Department of Engineering Mechanics: Dissertations, Theses, and Student Research

Recent advances in patterning techniques and emerging surface microtechnologies have allowed cell micropatterning to control spatial location of the cells on a surface as well as cell shape, attachment area, and number of contacting neighbor cells. These parameters play important roles in cell cellular behaviors. Cell micropatterning has thus become one of the most important strategies for biomedical applications, such as, tissue engineering, diagnostic immunoassays, lab-on-chip devices, bio-sensing, etc., and cell biology studies as well. For neuronal cells, there have been attempts to distribute neuronal cells on specific patterns to control cell-to-cell interaction. However, there have been very limited understanding …

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 …

Development Of The Mask Scentometer, A Comparison Of Ambient Odor Assessment Methods, And Their Application In Ground Truthing Atmospheric Dispersion Models, Christopher G. Henry

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

This dissertation is organized as four stand-alone papers. Paper No. 1 describes the development of the Mask Scentometer and reports dilution ratios measured during use by twelve different people. Dilution ratios at the Mask Scentometer’s five dilution-to-threshold (D/T) settings were found to be 0.35, 1, 2, 4.5 and 18. In Paper No.’s 2 and 4, ambient odor assessment methods were compared in both controlled laboratory conditions and in the field. Laboratory analysis of ambient air samples using dynamic triangular forced-choice olfactometry (DTFCO) did not correlate well with any of the ambient odor assessment methods. Average intensity-predicted D/T was roughly five …

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 …