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5th International Workshop on Innovative Simulation for Health Care, IWISH 2016

作者： Mandolfino, F. Sguanci, M. Minuto, M. Vercelli, G. Marcocci, G. Frascio, M. DISC - Department of General Surgery United States DIBRIS - Department of Informatics Bioengineering Robotics and Systems Engineering United States

ISBN: (纸本)9788897999737

INTRODUCTION. To present the University of Genoa Advanced Simulation Center (ASC) and the design a trainer (eLap4D) that would achieve the equivalent goals of the fundamentals of laparoscopic surgery trainer at an economical cost. The validation process is going to be shown too. METHODS. The laparoscopic trainer is a physical low-cost laparoscopic training platform that reproduces the tactile feedback (eLaparo4d) integrated with a software for virtual anatomical realistic scenarios (Unity3D V 4.1). A sample of 20 students was selected, divided into 2 homogeneous groups with respect to the level of confidence with the use of video games, consolles, smartphones (this has been possible thanks to the use of a questionnaire, administered before the practical phase of training). The groups participated in a training program based on 5 basic laparoscopic skills (laparoscopic focusing and navigation, hand - eye - coordination and grasp coordination). So, a second and third study sample was chosen, consisting of 20 post graduate students (intermediate group) and 20 experienced surgeons;for theese groups was provided a training program identical to the previous group as well as their subdivision into 2 group. The face validity was used for an ergonomic analysis of the simulator, the construct to test the system's ability to differentiate potential expert users (experienced surgeons) from non-experts (student without experience in laparoscopic surgery). RESULTS. We analyzed the results of the three samples obtained by comparing variables such as: score % of fullfillment panality time At the same time, the students' improvements have been monitored, developing a customized learning curve for each user. To evaluate the structural characteristics of the simulator a specific questionnaire has been used. The results encouraged us. The simulator is ergonomically satisfactory and its structural features are adapted to the training. The system was able to differentiate the level of ex

关键词： Simulators

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Node Primitives: an Open End-user Programming Platform for Social Robots

arXiv

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arXiv 2017年

作者： Coronado, Enrique Mastrogiovanni, Fulvio Venture, Gentiane Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology 2-21-16 Nakacho Koganei Tokyo Japan Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

With the expected adoption of robots able to seamlessly and intuitively interact with people in real-world scenarios, the need arises to provide non technically-skilled users with easy-to-understand paradigms for customising robot behaviours. In this paper we present an interaction design robot programming platform for enabling multidisciplinary social robot research and applications. This platform is referred to Node Primitives (NEP) and consists of two main parts. On the one hand, a ZeroMQ and Python-based distributed software framework has been developed to provide inter-process communication and robot behaviour specification mechanisms. On the other hand, a web-based end-user programming (EUP) interface has been developed to allow for an easy and intuitive way of programming and executing robot behaviours. In order to evaluate NEP, we discuss the development of a human-robot interaction application using arm gestures to control robot behaviours. A usability test for the proposed EUP interface is also *** Codes 68T40 Copyright © 2017, The Authors. All rights reserved.

关键词： Robot programming

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Evaluation of insertion characteristics of less invasive Si optoneural probe with embedded optical fiber

Evaluation of insertion characteristics of less invasive Si ...

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作者： Morikawa, Takumi Harashima, Takuya Kino, Hisashi Fukushima, Takafumi Tanaka, Tetsu Department of Mechanical Systems Engineering Graduate School of Engineering Tohoku University Sendai980-8579 Japan Department of Bioengineering and Robotics Graduate School of Engineering Tohoku University Sendai980-8579 Japan Frontier Research Institute for Interdisciplinary Sciences Tohoku University Sendai980-8579 Japan Department of Biomedical Engineering Graduate School of Biomedical Engineering Tohoku University Sendai980-8579 Japan

A less invasive Si optoneural probe with an embedded optical fiber was proposed and successfully fabricated. The diameter of the optical fiber was completely controlled by hydrogen fluoride etching, and the thinned optical fiber can propagate light without any leakage. This optical fiber was embedded in a trench formed inside a probe shank, which causes less damage to tissues. In addition, it was confirmed that the optical fiber embedded in the probe shank successfully irradiated light to optically stimulate gene transfected neurons. The electrochemical impedance of the probe did not change despite the light irradiation. Furthermore, probe insertion characteristics were evaluated in detail and less invasive insertion was clearly indicated for the Si optoneural probe with the embedded optical fiber compared with conventional optical neural probes. This neural probe with the embedded optical fiber can be used as a simple and easy tool for optogenetics and brain science. © 2017 The Japan Society of Applied Physics.

关键词： Probes

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The emergent integrated network structure of scientific research

arXiv

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arXiv 2018年

作者： Dworkin, Jordan D. Shinohara, Russell T. Bassett, Danielle S. Department of Biostatistics Epidemiology and Informatics Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Bioengineering University of Pennsylvania PhiladelphiaPA United States Department of Physics & Astronomy University of Pennsylvania PhiladelphiaPA United States Department of Electrical & Systems Engineering University of Pennsylvania PhiladelphiaPA United States Department of Neurology University of Pennsylvania PhiladelphiaPA United States

The practice of scientific research is often thought of as individuals and small teams striving for disciplinary advances. Yet as a whole, this endeavor more closely resembles a complex system of natural computation, in which information is obtained, generated, and disseminated more effectively than would be possible by individuals acting in isolation. Currently, the structure of this integrated and innovative landscape of scientific ideas is not well understood. Here we use tools from network science to map the landscape of interconnected research topics covered in the multidisciplinary journal PNAS since 2000. We construct networks in which nodes represent topics of study and edges give the degree to which topics occur in the same papers. The network displays small-world architecture, with dense connectivity within scientific clusters and sparse connectivity between clusters. Notably, clusters tend not to align with assigned article classifications, but instead contain topics from various disciplines. Using a temporal graph, we find that small-worldness has increased over time, suggesting growing efficiency and integration of ideas. Finally, we define a novel measure of interdisciplinarity, which is positively associated with PNAS’s impact factor. Broadly, this work suggests that complex and dynamic patterns of knowledge emerge from scientific research, and that structures reflecting intellectual integration may be beneficial for obtaining scientific insight. Copyright © 2018, The Authors. All rights reserved.

关键词： Graph theory

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The landscape of neuroimage-ing research

arXiv

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arXiv 2018年

作者： Dworkin, Jordan D. Shinohara, Russell T. Bassett, Danielle S. Department of Biostatistics Epidemiology and Informatics Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Bioengineering School of Engineering and Applied Sciences University of Pennsylvania PhiladelphiaPA United States Department of Physics and Astronomy College of Arts and Sciences University of Pennsylvania PhiladelphiaPA United States Department of Electrical and Systems Engineering School of Engineering and Applied Sciences University of Pennsylvania PhiladelphiaPA United States Department of Neurology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States

As the field of neuroimaging grows, it can be difficult for scientists within the field to gain and maintain a detailed understanding of its ever-changing landscape. While collaboration and citation networks highlight important contributions within the field, the roles of and relations among specific areas of study can remain quite opaque. Here, we apply techniques from network science to map the landscape of neuroimaging research documented in the journal NeuroImage over the past decade. We create a network in which nodes represent research topics, and edges give the degree to which these topics tend to be covered in tandem. The network displays small-world architecture, with communities characterized by common imaging modalities and medical applications, and with bridges that integrate these distinct subfields. Using node-level analysis, we quantify the structural roles of individual topics within the neuroimaging landscape, and find high levels of clustering within the structural MRI subfield as well as increasing participation among topics related to psychiatry. The overall prevalence of a topic is unrelated to the prevalence of its neighbors, but the degree to which a topic becomes more or less popular over time is strongly related to changes in the prevalence of its neighbors. Broadly, this work presents a cohesive model for understanding the landscape of neuroimaging research across the field, in broad subfields, and within specific topic areas. Copyright © 2018, The Authors. All rights reserved.

关键词： Graph theory

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Insert your own body in the oculus rift to improve proprioception 11

Insert your own body in the oculus rift to improve proprioce...

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11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2016

作者： Chessa, Manuela Caroggio, Lorenzo Huang, Huayi Solari, Fabio Dept. of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Viale Causa 13 Genoa Italy

A natural interaction in virtual reality environments, in particular when wearing head-mounted-displays, is often prevented by the lack of a visual feedback about the user's own body. This paper aims to create a virtual environment, in which the user can visually perceive his/her own body, and can interact with the virtual objects, by using a virtual body that replicates his/her movements. To this aim, we have set up an affordable virtual reality system, which combines the Oculus Rift head-mounted-display, a Microsoft Kinect, and a Leap Motion, in order to recreate inside the virtual environments a first-person avatar, who replicates the movements of the user's full-body and the fine movements of his/her fingers and hands. By acting in such an environment, the user is able to perceive him/herself thus improving his/her experience in the virtual reality. Here, we address and propose a solution to the issues related to the integration of the different devices, and to the alignment and registration of their reference systems. Finally, the effectiveness of the proposed system is assessed through an experimental session, in which several users report their feeling by answering to a 5-points Likert scale questionnaire. Copyright © 2016 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.

关键词： Virtual reality

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Author Correction: Dynamic reconfiguration of functional brain networks during working memory training

引用

Nature communications 2020年第1期11卷 3891页

作者： Karolina Finc Kamil Bonna Xiaosong He David M Lydon-Staley Simone Kühn Włodzisław Duch Danielle S Bassett Centre for Modern Interdisciplinary Technologies Nicolaus Copernicus University Toruń Poland. finc@umk.pl. Centre for Modern Interdisciplinary Technologies Nicolaus Copernicus University Toruń Poland. Department of Informatics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Toruń Poland. Department of Bioengineering School of Engineering and Applied Science University of Pennsylvania Philadelphia PA USA. Annenberg School for Communication University of Pennsylvania Philadelphia PA USA. Lise Meitner Group for Environmental Neuroscience Max Planck Institute for Human Development Berlin Germany. University Medical Center Hamburg-Eppendorf Hamburg Germany. Department of Electrical & Systems Engineering School of Engineering and Applied Science University of Pennsylvania Philadelphia PA USA. Department of Neurology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA. Department of Physics & Astronomy School of Arts and Sciences University of Pennsylvania Philadelphia PA USA. Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA. Santa Fe Institute Santa Fe NM 87501 USA.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Integrating Artificial Intelligence with Real-time Intracranial EEG Monitoring to Automate Interictal Identification of Seizure Onset Zones in Focal Epilepsy

arXiv

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arXiv 2018年

作者： Varatharajah, Yogatheesan Berry, Brent Cimbalnik, Jan Kremen, Vaclav van Gompel, Jamie Stead, Matt Brinkmann, Benjamin Iyer, Ravishankar Worrell, Gregory Electrical and Computer Engineering University of Illinois UrbanaIL61801 United States Mayo Systems Electrophysiology Laboratory Department of Neurology Mayo Clinic RochesterMN55905 United States Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6166 36 Czech Republic Department of Neurosurgery Mayo Clinic RochesterMN55905 United States Department of Physiology & Biomedical Engineering Mayo Clinic RochesterMN55905 United States

An ability to map seizure-generating brain tissue, i.e., the seizure onset zone (SOZ), without recording actual seizures could reduce the duration of invasive EEG monitoring for patients with drug-resistant epilepsy. A widely-adopted practice in the literature is to compare the incidence (events/time) of putative pathological electrophysiological biomarkers associated with epileptic brain tissue with the SOZ determined from spontaneous seizures recorded with intracranial EEG, primarily using a single biomarker. Clinical translation of the previous efforts suffers from their inability to generalize across multiple patients because of (a) the inter-patient variability and (b) the temporal variability in the epileptogenic activity. Here, we report an artificial intelligence-based approach for combining multiple interictal electrophysiological biomarkers and their temporal characteristics as a way of accounting for the above barriers and show that it can reliably identify seizure onset zones in a study cohort of 82 patients who underwent evaluation for drug-resistant epilepsy. Our investigation provides evidence that utilizing the complementary information provided by multiple electrophysiological biomarkers and their temporal characteristics can significantly improve the localization potential compared to previously published single-biomarker incidence-based approaches, resulting in an average area under ROC curve (AUC) value of 0.73 in a cohort of 82 patients. Our results also suggest that recording durations between ninety minutes and two hours are sufficient to localize SOZs with accuracies that may prove clinically relevant. The successful validation of our approach on a large cohort of 82 patients warrants future investigation on the feasibility of utilizing intra-operative EEG monitoring and artificial intelligence to localize epileptogenic brain tissue. Broadly, our study demonstrates the use of artificial intelligence coupled with careful feature engineering in

关键词： Support vector machines

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Application of Hamiltonian Mechanics to Control Design for Industrial Robotic Manipulators

Application of Hamiltonian Mechanics to Control Design for I...

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International Conference on Methods and Models in Automation and robotics

作者： Václav Záda Květoslav Belda Department of Electromechanical Systems and Robotics Institute of Mechatronics and Engineering Informatics Liberec Czech Republic Department of Adaptive Systems Institute of Information Theory and Automation of the CAS Prague 8 Czech Republic

The paper deals with a tracking control for robotic manipulators, where the robot dynamics is described by means of Hamiltonian mechanics. This way leads to different physical descriptive quantities used in control design. In the paper, the model-oriented Lyapunov-based control is considered. It is in-troduced in the novel formulation using Hamiltonian mechanics and compared with the conventional formulation based on Lagrangian mechanics. The theoretical results, generally applicable to usual articulated industrial robotic manipulators, are demonstrated on one specific robot arm with three degrees of freedom.

关键词： Hamiltonian Mechanics Industrial Robotic Manipulators robot dynamics

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Erythrocyte-inspired discoidal polymeric nanoconstructs carrying tissue plasminogen activator for the enhanced lysis of blood clots

arXiv

引用

arXiv 2019年

作者： Colasuonno, Marianna Palange, Anna Lisa Aid, Rachida Ferreira, Miguel Mollica, Hilaria Palomba, Roberto Emdin, Michele Sette, Massimo Del Chauvierre, Cédric Letourneur, Didier Decuzzi, Paolo Sant'Anna School of Advanced Studies Piazza Martiri della Libertà 33 Pisa56127 Italy Department of Informatics Bioengineering Robotics and System Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy INSERM U1148 Laboratory for Vascular Translational Science University Paris 13 University Paris Diderot X. Bichat Hospital 46 rue Henri Huchard Paris75018 France Fondazione Toscana G. monasterio Via G. Moruzzi 1 Pisa56124 Italy S.C. Neurologia E.O. Ospedali Galliera. Mura delle Cappuccine 14 Genova16128 Italy Laboratory of Nanotechnology for Precision Medicine Fondazione Istituto Italiano di Tecnologia Via Morego 30 Genoa16163 Italy

Tissue plasminogen activator (tPA) is the sole approved therapeutic molecule for the treatment of acute ischemic stroke. Yet, only a small percentage of patients could benefit from this life-saving treatment because of medical contraindications and severe side effects, including brain hemorrhage, associated with delayed administration. Here, a nano therapeutic agent is realized by directly associating the clinical formulation of tPA to the porous structure of soft discoidal polymeric nanoconstructs (tPA-DPNs). The porous matrix of DPNs protects tPA from rapid degradation, allowing tPA-DPNs to preserve over 70 % of the tPA original activity after 3 h of exposure to serum proteins. Under dynamic conditions, tPA-DPNs dissolve clots more efficiently than free tPA, as demonstrated in a microfluidic chip where clots are formed mimicking in vivo conditions. At 60 min post treatment initiation, the clot area reduces by half (57 + 8 %) with tPA-DPNs, whereas a similar result (56 + 21 %) is obtained only after 90 min for free tPA. In murine mesentery venules, the intravenous administration of 2.5 mg/kg of tPA-DPNs resolves almost 90 % of the blood clots, whereas a similar dose of free tPA successfully recanalize only about 40 % of the treated vessels. At about 1/10 of the clinical dose (1.0 mg/kg), tPA-DPNs still effectively dissolve 70 % of the clots, whereas free tPA works efficiently only on 16 % of the vessels. In vivo, discoidal tPA-DPNs outperform the lytic activity of 200 nm spherical tPA-coated nanoconstructs in terms of both percentage of successful recanalization events and clot area reduction. The conjugation of tPA with preserved lytic activity, the deformability and blood circulating time of DPNs together with the faster blood clot dissolution would make tPA-DPNs a promising nanotool for enhancing both potency and safety of thrombolytic therapies. Copyright © 2019, The Authors. All rights reserved.

关键词： Dissolution

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