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Photoelastic stress analysis on patient-specific anatomical model of cerebral artery by reflection method

Photoelastic stress analysis on patient-specific anatomical ...

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2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "System Cell engineering by Multi-scale Manipulation"

作者： Matsushima, Motoki Okada, Yuta Ikeda, Seiichi Fukuda, Toshio Arai, Fumihito Negoro, Makoto Takahashi, Ikuo Department of Micro-Nano Systems Engineering Nagoya University Nagoya 464-8603 Japan Department of Bioengineering and Robotics Tohoku University Sendai 980-8579 Japan Department of Neurological Surgery Fujita Health University Toyoake Aichi 470-1192 Japan Department of Neurological Surgery Anjo Kosei Hospital Anjo Aichi 446-8602 Japan

ISBN: (纸本)9781424429196

Artery models and surgical simulators are required for safety surgery. We have proposed a novel method to produce biological models using polyurethane elastomer, which has high Photoelastic coefficient. And a method is to analyze stress on the model by circular polarized light method, the quantitative stress is analyzed from rainbow-colored Photoelastic pattern. But the measurement area is restricted for the fringe area of the artery model. In this paper, we propose stress measurement on biological model by reflection method, which is a stress measurement method using Photoelastic effect. With this method, stress is measured in area wider than that of circular polarized light method. For the reflection method, the Reflection layer was coated between first layer of polyurethane elastomer and second layer of it. From SEM image of cross section of this artery model image, we confirmed uniform thickness of acrylic resin and adhesion between polyurethane layer and acrylic layer. To use this reflection model, We could quantify the error of photo elastic stress analysis. the measurement accuracy of stress state of model reflection area was found to be 9.1% about stress magnitude and ± 7[deg] about stress directions. And an application on artery model is verified experimentally. Finally, Stress on the vascular wall caused by the contact with a catheter was successfully measured. Consequently, it should be valuable for various applications not only surgical simulations but also hemodynamic studies and pathological studies. © 2008 IEEE.

关键词： Light polarization

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Fabrication of functional gel-microbead for local environment measurement in microchip

Fabrication of functional gel-microbead for local environmen...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hisataka Maruyama Fumihito Arai Toshio Fukuda Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Nagoya University Nagoya Japan

A novel on-chip environment measurement with functional gel-microtool was developed. Environment measurement gel-microtool was fabricated by connecting the gel-microbeads impregnated with indicators in a microchip. In this paper, Bromothymol blue (BTB) and Bromocresol green (BCG) were employed as pH indicators. BTB and BCG have the different indicator range. Rhodamine B is temperature sensitive fluorescent dye and is used for temperature measurement. Gel-microbead is made by salting-out of hydrophilic photo-crosslinkable resin and is manipulated by optical tweezers. Moreover, gel-microbead is polymerized by UV illumination and connected to other gel-microbead under an electrolyte solution. The connection of gel-microbeads is performed by contact of gel-microbeads under UV illumination. Environment measurement gel-microtool with an arbitrary shape is fabricated by connection of the gel-microtool impregnated with arbitrary indicator. Multiple environments measurement gel-microtool included with several indicators is realized by assembly of the gel-microbeads impregnated with different indicators. Environment measurement is performed by detecting the color and the fluorescence intensity of each gel-microbead. We succeeded in the on-chip fabrication of the environment measurement gel-microtools such as circular pH measurement gel-microtool and wide range pH measurement gel-microtool in a microchip.

关键词： Fabrication Fluorescence Lighting Shape measurement Joining processes Temperature sensors Temperature measurement Resins Optical polymers Optical sensors

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Exploiting locality of interaction in factored Dec-POMDPs

Exploiting locality of interaction in factored Dec-POMDPs

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7th International Joint Conference on Autonomous Agents and Multiagent systems, AAMAS 2008

作者： Oliehoek, Frans A. Spaan, Matthijs T.J. Whiteson, Shimon Vlassis, Nikos Informatics Institute University of Amsterdam Kruislaan 403 1098 SJ Amsterdam Netherlands Institute for Systems Robotics Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisbon Portugal Department of Production Engineering and Management Technical University of Crete Chania Greece

ISBN: (纸本)9781605604701

Decentralized partially observable Markov decision processes (Dec-POMDPs) constitute an expressive framework for multiagent planning under uncertainty, but solving them is provably intractable. We demonstrate how their scalability can be improved by exploiting locality of interaction between agents in a factored representation. Factored Dec-POMDP representations have been proposed before, but only for Dec-POMDPs whose transition and observation models are fully independent. Such strong assumptions simplify the planning problem, but result in models with limited applicability. By contrast, we consider general factored Dec-POMDPs for which we analyze the model dependencies over space (locality of interaction) and time (horizon of the problem). We also present a formulation of decomposable value functions. Together, our results allow us to exploit the problem structure as well as heuristics in a single framework that is based on collaborative graphical Bayesian games (CGBGs). A preliminary experiment shows a speedup of two orders of magnitude. Copyright © 2008, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multi agent systems

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Multi Sensor Map Building based on Sparse Linear Equations Solver

Multi Sensor Map Building based on Sparse Linear Equations S...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 2091-2610

作者： Eijiro Takeuchi Takashi Tsubouchi Human-Robot Informatics Laboratory Department of Bioengineering and Robotics Graduate School of Engineering Tohoku University 6-6-01 Aoba Aramaki-aza Aoba-ku Sendai 980-8579 Japan

ISBN: (纸本)9781424420575

This paper proposes fast map building algorithm for multiple modal exteroceptive (external) sensors based on trajectory optimization. To realize localization using multiple modal exteroceptive sensors needs consistent environment maps (landmark maps). Multiple sensor SLAM(Simultaneous Localization And Mapping) is one of solutions to build maps consistently. In implementation of SLAM, approximations of sensor model contribute to get speeded up the algorithm. However in several case, these approximations deteriorate quality of the map. This paper proposes fast and accurate map building algorithm using multiple modal sensors based on sparse linear equations solver. This algorithm needs less approximations-but computation speed is fast. In addition, application of measured data from multiple sensors to this algorithm is described.

关键词： Linear equation MAPPING(MATHEMATICAL) maps Fasting Sensors multi sensor algorithms Solvers Buildings landmarks mapping observational data

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Fabrication of biodegradable scaffolds by use of self-assembled magnetic sugar particles as a casting template

Fabrication of biodegradable scaffolds by use of self-assemb...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tomoyuki Uchida Hiroyuki Oura Seiichi Ikeda Fumihito Arai Makoto Negoro Toshio Fukuda Department of Micro-Nano Systems Engineering Graduate School of Engineering University of Nagoya Nagoya Aichi Japan Department of Bioengineering and Robotics Graduate School of Engineering University of Tohoku Sendai Miyagi Japan Department of Neurosurgery School of Medicine Fujita Health University Toyoake Aichi Japan

Technologies to develop scaffolds with controlled pore layout and porosity have great significance in tissue engineering. As one method of scaffold fabrication, porogen leaching has been commonly used to control pore size, pore structure and porosity in the scaffold. In this paper, we describe a novel approach to fabricate 2D and 3D porous biodegradable scaffolds made of poly(L-lactide-co-epsiv-caprolactone) by using magnetic sugar particles as porogens. First, ferrite micro/nano particles were encapsulated in sugar microspheres to make them magnetized. After sieving magnetic sugar particles, those diameter-controlled particles were attracted by a magnetic force to form an assembled template for polymer casting. A magnetic field with polka-dot pattern was also utilized to align particles on desired positions. After polymer casting and removal of the sugar template, spherical pores were generated inside scaffold. For future application in vascular tissue engineering, we extended the scaffold fabrication to straight tubular scaffolds by winding 2D porous sheets on sacrificial molds. The biocompatibility of the developed scaffold was confirmed by viable cells after 4-day culture.

关键词： Fabrication Biodegradable materials Casting Tissue engineering Polymers Leaching Size control Ferrites Magnetic forces Assembly

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Fabrication of Transparent Arteriole Membrane Models

Fabrication of Transparent Arteriole Membrane Models

引用

International Symposium on Micromechatronics and Human Science (MHS)

作者： Takuma Nakano Keisuke Yoshida Seiichi Ikeda Hiroyuki Oura Toshio Fukuda Takehisa Matsuda Makoto Negoro Fumihito Arai Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Kanazawa Institute of Technology Nonoichi Japan Fuj ita Health University Toyoake Japan

We made transparent arteriole membranous models by using grayscale lithography. We employed a sacrificial model made of WAX and PVA mixture as a novel molding material. Our goal is to complement previous surgical simulators for practice and rehearsal of medical treatments. Since block vessel models cannot recreate moderate compliance which is similar to that of the real blood vessel, here we propose fabrication method for transparent arteriole membranous model which has circular cross section smaller than 500 mum in diameter. Fabrication method of the model as well as evaluation result of the molding material is reported.

关键词： Fabrication Biomembranes Surgery Blood vessels Lithography Semiconductor device modeling Gray-scale Diseases Biomedical engineering Robots

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Fabrication of transparent arteriole membrane models

Fabrication of transparent arteriole membrane models

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作者： Nakano, Takuma Yoshida, Keisuke Ikeda, Seiichi Oura, Hiroyuki Fukuda, Toshio Matsuda, Takehisa Negoro, Makoto Arai, Fumihito Department of Bioengineering and Robotics Tohoku University 6-6-01 Aramaki-Aoba Aoba-Ku Sendai 980-8579 Japan Department of Micro-Nano Systems Engineering Nagoya University Furo-Cho Chikusa-ku Nagoya 464-8603 Japan Kanazawa Institute of Technology 7-1 Ohgigaoka Nonoichi 921 - 8501 Japan Fujita Health University 1-98 Dengakugakubo Kutsukake-cho Toyoake 470-1192 Japan

ISBN: (纸本)9781424429196

We made transparent arteriole membranous models by using grayscale lithography. We employed a sacrificial model made of WAX and PVA mixture as a novel molding material. Our goal is to complement previous surgical simulators for practice and rehearsal of medical treatments. Since block vessel models cannot recreate moderate compliance which is similar to that of the real blood vessel, here we propose fabrication method for transparent arteriole membranous model which has circular cross section smaller than 500 μm in diameter. Fabrication method of the model as well as evaluation result of the molding material is reported. © 2008 IEEE.

关键词： Blood vessels

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PHOTOELASTIC Stress Analysis on Patient-Specific Anatomical Model of Cerebral Artery by Reflection Method

PHOTOELASTIC Stress Analysis on Patient-Specific Anatomical ...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Motoki Matsushima Yuta Okada Seiichi Ikeda Toshio Fukuda Fumihito Arai Makoto Negoro Ikuo Takahashi Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Neurological Surgery Fujita Health University Toyoake Aichi Japan Department of Neurological Surgery Anjo Kosei Hospital Anjo Aichi Japan

Artery models and surgical simulators are required for safety surgery. We have proposed a novel method to produce biological models using polyurethane elastomer, which has high photoelastic coefficient. And a method is to analyze stress on the model by circular polarized light method. the quantitative stress is analyzed from rainbow-colored photoelastic pattern. But the measurement area is restricted for the fringe area of the artery model. In this paper, we propose stress measurement on biological model by reflection method, which is a stress measurement method using photoelastic effect. With this method, stress is measured in area wider than that of circular polarized light method. For the reflection method, the Reflection layer was coated between first layer of polyurethane elastomer and second layer of it. From SEM image of cross section of this artery model image, we confirmed uniform thickness of acrylic resin and adhesion between polyurethane layer and acrylic layer. To use this reflection model, We could quantify the error of photo elastic stress analysis. the measurement accuracy of stress state of model reflection area was found to be 9.1% about stress magnitude and plusmn 7[deg] about stress directions. And an application on artery model is verified experimentally. Finally, Stress on the vascular wall caused by the contact with a catheter was successfully measured. Consequently, it should be valuable for various applications not only surgical simulations but also hemodynamic studies and pathological studies.

关键词： Photoelasticity Arteries Biological system modeling Optical reflection Stress measurement Surgery Area measurement Pattern analysis Optical polarization Safety

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On-chip ph and temperature sensing with gel-tool manipulated by optical tweezers 11

On-chip ph and temperature sensing with gel-tool manipulated...

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11th International Conference on Miniaturized systems for Chemistry and Life Sciences, uTAS 2007

作者： Maruyama, Hisataka Arai, Fumihito Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University Japan Department of Bioengineering and Robotics Tohoku University Japan

ISBN: (纸本)9780979806407

A multiple environments measurement with multiple sensing gel-tool in a microchip was developed. The gel-tool was fabricated by connecting gel-microbeads impregnated different indicators. In this paper, Bromothymol blue (BTB) and Bromocresol green (BCG) were used as pH indicators. Rhodamine B was used for temperature measurement. Gel-microbead is made by salting-out of hydrophilic photo-crosslinkable resin (ENT-3400, Kansai Paint) [1]. The gel-microbead is manipulated by optical tweezers and is polymerized by UV-ray. Polymerized gel-microbead adheres to glass and other gel-microbead under an electrolyte solution. Connection of gel-microbeads is operated by only contact. Multiple environments measurement is carried out by detecting the color and fluorescence intensity of each gel-microbead. We succeeded in fabricating multiple sensing gel-tool, measuring pH with wide range, and measuring pH and temperature at desired point of microchip. © 2007 CBMS.

关键词： Electrolytes

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