Medicine and Health Sciences Commons^™

Development And Application Of A Biorobotic Simulation Of Stance Phase Gait To Study Foot And Ankle Kinematics, Kelly N. Salb

Theses and Dissertations (ETD)

Ankle instantaneous axis of rotation (IAR) measurements represent a more complete parameter for characterizing joint motion. However, few studies have implemented this measurement to study normal, injured, or pathological foot-ankle biomechanics. Additionally, while load is suggested to play a major role in ankle biomechanics, including influences on articular surfaces, bony motion, and formation of the arches, studies concerning the effects of joint loading are limited.

A novel testing protocol was developed to simulate in vivo mechanics of the foot-ankle complex during early stance phase gait in a human cadaveric model. Two studies were conducted. The first study was to assess …

Prospective Study Of An Ultra-Lightweight Polypropylene Y Mesh For Robotic Sacrocolpopexy, Charbel Salamon, Christa Lewis, Jennifer Priestley, Emil Gurshumov, Patrick Culligan

Jennifer L. Priestley

Introduction and hypothesis: To prospectively evaluate the use of a particular polypropylene Y mesh for robotic sacrocolpopexy. Methods: This was a prospective study of 120 patients who underwent robotic sacrocolpopexy. We compared preoperative and 12-month postoperative objective and subjective assessments via the Pelvic Organ Prolapse Quantification (POP-Q), the Pelvic Floor Distress Inventory, Short Form 20 (PFDI-20); the Pelvic Floor Impact Questionnaire, Short Form 7 (PFIQ-7); and the Pelvic Organ Prolapse/Urinary Incontinence Sexual Questionnaire 12 (PISQ-12). Objective 'anatomical success' was defined as POP-Q stage 0 or 1 at all postoperative intervals. We further defined 'clinical cure' by simultaneously considering POP-Q points …

Measurement And Description Of Dynamics Required For In Vivo Surgical Robotics Via Kinematic Methods, Jacob G. Greenburg

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

With the goal of improved recovery times and reduced trauma to the patient there has been a substantial shift in the medical community’s demand for minimally invasive surgical (MIS) techniques. With the standardization of MIS becoming more commonplace in the medical field there are still many improvements that are desired. Traditional, manual methods of these surgeries require multiple incisions on the abdomen for the tools and instruments to be inserted. The more recent demand has been to localize the incisions into what is being referred to as a Laparoendoscopic Single-Site (LESS) surgery. Furthermore, the manual instruments that are commonly used …

The Development And Application Of A Custom Robotic Biomechanical Testing Platform Employing Real-Time Load-Control To Compare Spinal Biomechanical Testing Protocols: Pure Moment, Ideal Follower Load, And A Novel Trunk Weight Protocol, Charles Ramsey Bennett

Theses and Dissertations (ETD)

The human lumbar spine has been the subject of biomechanical study for many decades owing to the numerous medical cases resulting in the development of various corrective surgical procedures and medical devices intended to relieve patient discomfort. Spinal biomechanics is a broad field containing but not limited to the in vitro study of cadaveric tissue utilizing testing platforms used to apply motion- or load-profiles to tissue in the investigation of the various kinetic or kinematic responses, respectively. The particular arena field of this research concerns the field of robotics as it applies to testing platforms and how they are applied …

A Magnetic-Resonance-Imaging-Compatible Remote Catheter Navigation System., Mohammad Ali Tavallaei, Yogesh Thakur, Syed Haider, Maria Drangova

Medical Biophysics Publications

A remote catheter navigation system compatible with magnetic resonance imaging (MRI) has been developed to facilitate MRI-guided catheterization procedures. The interventionalist's conventional motions (axial motion and rotation) on an input catheter - acting as the master - are measured by a pair of optical encoders, and a custom embedded system relays the motions to a pair of ultrasonic motors. The ultrasonic motors drive the patient catheter (slave) within the MRI scanner, replicating the motion of the input catheter. The performance of the remote catheter navigation system was evaluated in terms of accuracy and delay of motion replication outside and within …

Intervention With Children With Autism: The Effect Of Using A Robot On Participation In Reciprocal Play, Shereen Ririe

Theses and Dissertations

The current study was part of a larger work investigating the effects of intervention incorporating a robot on the social engagement behaviors of children with autism. The larger study implemented a single-subject, multiple-baseline research design in which four children with autism participated in baseline sessions, traditional intervention, intervention including a robot, and follow-up sessions. The current study focused on the participant's responses to directives from the clinician and the parent during collaborative activities that included the robot. Children's responses were analyzed to determine if they responded to directives without assistance, responded with hand-over-hand assistance, or did not comply. Sessions were …