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Design of a 6-DoF Parallel Robotic Platform for MRI Applications

Journal of Medical Robotics Research 2022年第2-3期7卷 2241005页

作者： Musa, Mishek Sengupta, Saikat Chen, Yue Department of Mechanical Engineering University of Arkansas Fayetteville 72701 AR United States Department of Radiology and Radiological Sciences Vanderbilt University Medical Center Nashville 37232 TN United States Department of Biomedical Engineering Georgia Institute of Technology Emory University Atlanta 30332 GA United States

In this work, the design, analysis, and characterization of a parallel robotic motion generation platform with 6-degrees of freedom (DoF) for magnetic resonance imaging (MRI) applications are presented. The motivation for the development of this robot is the need for a robotic platform able to produce accurate 6-DoF motion inside the MRI bore to serve as the ground truth for motion modeling;other applications include manipulation of interventional tools such as biopsy and ablation needles and ultrasound probes for therapy and neuromodulation under MRI guidance. The robot is comprised of six pneumatic cylinder actuators controlled via a robust sliding mode controller. Tracking experiments of the pneumatic actuator indicates that the system is able to achieve an average error of 0.69 ± 0.14mm and 0.67 ± 0.40mm for step signal tracking and sinusoidal signal tracking, respectively. To demonstrate the feasibility and potential of using the proposed robot for minimally invasive procedures, a phantom experiment was performed in the benchtop environment, which showed a mean positional error of 1.20 ± 0.43mm and a mean orientational error of 1.09 ±0.57 ° , respectively. Experiments conducted in a 3T whole body human MRI scanner indicate that the robot is MRI compatible and capable of achieving positional error of 1.68 ± 0.31mm and orientational error of 1.51 ± 0.32° inside the scanner, respectively. This study demonstrates the potential of this device to enable accurate 6-DoF motions in the MRI environment. © 2022 World Scientific Publishing Company.

关键词： motion generation MRI parallel robot

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A Viscoelastic Model for Human Myocardium

SSRN

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SSRN 2021年

作者： Nordsletten, David Capilnasiu, Adela Zhang, Will Wittgenstein, Anna Hadjicharalambous, Myrianthi Sommer, Gerhard Sinkus, Ralph Holzapfel, Gerhard A. Division of Biomedical Engineering and Imaging Sciences Department of Biomedical Engineering King’s College London United Kingdom Departments of Biomedical Engineering and Cardiac Surgery University of Michigan Ann Arbor United States Department of Biomedical Engineering University of Michigan Ann Arbor United States Department of Mechanical & Manufacturing Engineering University of Cyprus Nicosia Cyprus Institute of Biomechanics Graz University of Technology AT Austria Inserm U1148 LVTS University Paris Diderot University Paris 13 Paris France Department of Structural Engineering Norwegian University of Science and Technology TrondheimNO Norway

Understanding the biomechanics of the heart in health and disease plays an important role in the diagnosis and treatment of heart failure. The use of computational biomechanical models for therapy assessment is paving the way for personalized treatment, and relies on accurate constitutive equations mapping strain to stress. Current state-of-the art constitutive equations account for the nonlinear anisotropic stress-strain response of cardiac muscle using hyperelasticity theory. While providing a solid foundation for understanding the biomechanics of heart tissue, most current laws neglect viscoelastic phenomena observed experimentally. Utilizing experimental data from human myocardium and knowledge of the hierarchical structure of heart muscle, we present a fractional nonlinear anisotropic viscoelastic constitutive model. The model is shown to replicate biaxial stretch, triaxial cyclic shear and triaxial stress relaxation experiments (mean error ~7.5%), comparing well with its hyperelastic (mean error ~25%) counterparts. Model sensitivity, fidelity and parameter uniqueness are demonstrated. The model is also compared to rate-dependent biaxial stretch as well as different modes of biaxial stretch, illustrating extensibility of the model to a range of loading phenomena. © 2021, The Authors. All rights reserved.

关键词： Viscoelasticity

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Advanced Receiver Operating Characteristic Curve Analysis to Identify Outliers in Binary Machine Learning Classifications for Precision Medicine

Advanced Receiver Operating Characteristic Curve Analysis to...

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IEEE EMBS International Conference on Information Technology Applications in Biomedicine (ITAB)

作者： Khashayar Namdar Farzad Khalvati Department of Diagnostic & Interventional Radiology The Hospital for Sick Children Toronto ON Canada Neurosciences & Mental Health Research Program SickKids Research Institute Toronto ON Canada Institute of Medical Science University of Toronto Toronto ON Canada Vector Institute Toronto ON Canada Department of Medical Imaging University of Toronto Toronto ON Canada Department of Computer Science University of Toronto Toronto ON Canada Department of Mechanical and Industrial Engineering University of Toronto Toronto ON Canada

ISBN: (数字)9798350351552

ISBN: (纸本)9798350351569

The Receiver Operating Characteristic (ROC) curve is a critical tool for binary classification analysis in medicine, with the Area Under the ROC Curve (AUROC) serving as a widely accepted metric to evaluate the performance of binary classifiers. This study conducts a comprehensive review of the ROC curve with a focus on its utility in outlier identification. We introduce a novel scoring method to rank actual positives and actual negatives within a test set, according to their impact on AUROC degradation. We bridge the scoring system with the ROC curve analysis to quantify each data point's contribution to AUROC loss. Furthermore, we introduce the IMICS ROC Analyzer, a graphical user interface-based software, embedded with our innovative algorithms. Through the use of an open-source prostate cancer dataset, we illustrate the application of our algorithms for practical outlier detection in binary classification tasks. The IMICS ROC Analyzer enhances the field of precision medicine by allowing for measuring an individual's contributions (be it patients, lesions, or samples) to the overall AUROC, thus facilitating confidence measurement of Machine Learning (ML) classifiers for individual cases of interest in a cohort.

关键词： Machine learning algorithms Reviews Precision medicine Software algorithms Machine learning Receivers biomedical measurement Software Classification algorithms Prostate cancer

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Correction to: A new industrially magnetic capsule MedRobot integrated with smart motion controller

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The International Journal of Advanced Manufacturing Technology 2024年第9期133卷 4579-4579页

作者： Hua, Dezheng Liu, Xinhua Królczyk, Grzegorz M. Li, Weihua Andriukaitis, Darius Gołdasz, Janusz Li, Zhixiong School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou China Faculty of Mechanical Engineering Opole University of Technology Opole Poland School of Mechanical Materials Mechatronicand Biomedical Engineering University of Wollongong Wollongong Australia Department of Electronics Engineering Faculty of Electrical and Electronics Engineering Kaunas University of Technology Kaunas Lithuania Faculty of Electrical and Computer Engineering Cracow University of Technology Krakow Poland

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Terahertz Time-Domain Spectroscopy for Probing DC Conductivity of Single-Layer Graphene

Terahertz Time-Domain Spectroscopy for Probing DC Conductivi...

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Western New York Image Processing Workshop (WNYIPW)

作者： Debamitra Chakraborty Declan Walden Jing Cheng Julia Wallace Kiryl A. Niherysh Andrei V. Felsharuk Donats Erts Ivan Komissarov Roman Sobolewski Materials Science Graduate Program University of Rochester Rochester New York USA Laboratory for Laser Energetics Rochester New York USA Department of Physics and Astronomy University of Rochester Rochester New York USA Department of Biomedical Engineering University of Rochester Rochester New York USA Institute of Chemical Physics University of Latvia Riga Latvia Department of Microtechnology and Nanoscience Chalmers University of Technology Gothenburg Sweden Department of Electrical and Computer Engineering University of Rochester Rochester New York USA

We report preliminary results of extracting electrical parameters like DC conductivity, mobility, and carrier concentration of single-layer graphene using Terahertz time-domain spectroscopy (THz-TDS) in transmission geometry. We utilize a simple Drude model and its extension, the Drude-Smith model, capable of accommodating charge carrier scattering by optical and acoustic phonons to describe the complex conductivity in graphene. We observed that a significant area of the sample scanned followed the Drude-Smith behavior, while at a few locations, the simple Drude behavior prevailed. We identified possible reasons that might contribute to this observation, like defects, the presence of polymer residue on the sample, or the sample strain. This research sheds new light on our understanding of graphene's electrical properties and lays the foundation for future investigations addressing defects and contaminants in graphene samples.

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Study of Mice Ovaries using Optical Coherence Tomography

Study of Mice Ovaries using Optical Coherence Tomography

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Latin America Optics and Photonics Conference, LAOP 2022

作者： Amaral, Marcello Magri Sun, Aixia Li, Yilin Wang, Ping Jiao, Zexu Zhou, Chao Biomedical Engineering Department Washington University in St Louis 1 Brookings Dr St LouisMO United States Universidade Brasil Rua Carolina Fonseca 235 SP Sao Paulo Brazil Precision Health Program Michigan State University East LansingMI United States Department of Radiology College of Human Medicine Michigan State University East LansingMI United States Department of Obstetrics and Gynecology University of Texas Southwestern Medical Center DallasTx United States

We investigate the age-related follicle and oocyte morphological differences using Optical Coherence Tomography (OCT). The oocyte's development stages were observed and discussed. OCT technique can provide a real-... 详细信息

ISBN: (纸本)9781957171135

关键词： Optical tomography

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Effect of specimen profile radius of brass, aluminium and PVC materials on predicted fatigue life

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AIP Conference Proceedings 2023年第1期2531卷

作者： Syamsul Hadi Anggit Murdani Sudarmadji Sza Sya Monica Valeria Andhika Erlangga Setiawan Putra Hendri Irwanto Prabowo Khairul Muzaka Department of Mechanical Engineering State Polytechnic of Malang Jl. Soekarno Hatta 9 Malang 65141 Indonesia Department of Mechanical Engineering Ship Manufacture Engineering Study Program State Polytechnic of Banyuwangi Indonesia

The problem lies in the inefficient fatigue test at the larger minimum diameter at the center of the specimen. The purpose of this research is to increase the efficiency of the fatigue test time. The methods used include turning specimens from Brass, Aluminium and Polyvinyl chloride (PVC) with 254 mm radius profile (minimum specimen diameter of 8.6 mm) and 240 mm (minimum specimen diameter of 7.3 mm), fatigue testing, and analysis of the results. The results showed that the difference in the duration of fatigue life between the radius profile of 240 mm and 254 mm was faster for the three materials, for Brass at flexure strength (S) of 182 MPa is 70.9 %, for Aluminium at S of 124 MPa is 5.9%, and for PVC at S of 69 MPa is 8.1 % which means that reducing the rail profile radius of copy lathe tool post for specimen preparation increases time efficiency on the integrated rotating bending fatigue test machine.

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Analysis of Three-Dimensional Anatomical Variance and Fit of the Distal Radius to Current Volar Locking Plate Designs

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Journal of Hand Surgery Global Online 2020年第5期2卷 277-285页

作者： Perrin, Madeline Badre, Armin Suh, Nina Lalone, Emily A. Department of Mechanical and Materials Engineering The University of Western Ontario London Canada Department of Surgery The University of Western Ontario London Canada School of Biomedical Engineering Faculty of Engineering The University of Western Ontario London Canada Roth–McFarlane Hand and Upper Limb Centre St. Joseph's Health Care London ON Canada

Purpose: Distal radius fractures are the most common upper-extremity fracture and are increasingly being treated surgically with precontoured volar locking plates. It is not currently known whether existing implant designs are anatomically accurate and whether this has clinical implications. The objective of this study was to determine whether anatomic alignment of the distal radius corresponds accurately to modern volar locking plate designs, including any sex-linked differences in morphology of the distal radius. It was hypothesized that the 2 plates examined would show differences in watershed line (WSL) overlap and that female specimens would have a larger overlap compared with males owing to a decrease in plate-WSL border distances. Methods: We used 3-dimensional models of 20 cadaver arms (10 female: mean age, 88.7 ± 4.6 years [range, 82–97 years];and 10 male: mean age, 86 ± 3.6 years [range, 81–91 years]) to create 3-dimensional computed tomography models of the distal radius. Virtual models of 2 common volar plates were created and were used to place the plate virtually onto the distal radii. Outcome measures included the volar cortical angle of the bone and plate, the definition of the WSL subsequently followed by quantitative distance and overlap measures, and percent contact between the plate and the distal radius. Results: Both sexes showed an decrease (approximately 7°) in average volar cortical angle measure from medial to lateral columns that was statistically significantly smaller on the lateral column (males: 38°;females: 29°) compared with the medial column (males: 45°;females: 36°). Watershed line overlap ranged from 0% to 34.8% with statistically significant differences between sexes. Average border distance for females was 2.7 mm, compared with 3.8 mm for males. Maximum percent contact of 22.0% was observed at a 0.3-mm threshold. Conclusions: Distal radius fractures are common in elderly female patients, yet clinically available plates have impor

关键词： Distal radius Percent contact Volar cortical angle Volar locking plate Watershed line

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Automatic Plant Disease Classification and Agriculture Monitoring Robot

SSRN

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SSRN 2024年

作者： Raza, Ali Saeed, Zubair Johar, Ahmed Husnain Asgher, Umer Ayaz, Yasar Nazir, Salman Li, Yunwang Yang, Kehu Socha, Vladimir Department of Computer Engineering University of Engineering and Technology Taxila47080 Pakistan H-12 Islamabad44000 Pakistan H-12 Islamabad44000 Pakistan Horska 2040/3 Prague12800 Czech Republic H-12 Islamabad44000 Pakistan Faculty of Technology Natural Sciences and Maritime Sciences University of South-Eastern Norway Horten Norway Nord University Business School Nord University BodÃ Norway School of Mechanical Electronic and Information Engineering China University of Mining and Technology-Beijing Beijing100083 China Key Laboratory of Intelligent Mining and Robotics Ministry of Emergency Management China Department of Information and Communication Technology in Medicine Faculty of Biomedical Engineering Czech Technical University in Prague Studnickova 7/2028 Prague128 00 Czech Republic

Agriculture is a critical sector for economic development in countries like Pakistan, where the Gross Domestic Product (GDP) is largely dependent on it. However, traditional methods used by farmers to detect plant diseases, such as visual inspection, are inaccurate and lead to low productivity. In this study, we present an autonomous Unmanned Ground Vehicle (UGV) that can detect and classify diseases in plants, as well as monitor environmental factors such as humidity, air pressure, light intensity, and rain using Internet of Things (IoT) techniques on the ThingSpeak platform. Our robot system is equipped with sensors and can move through the potato field to send sensory data in real-time to a Graphical User Interface (GUI). In addition, we remotely monitor the field using a cellphone camera. By combining robotics, IoT, and deep learning, we achieved an accuracy of 98.88\% in the detection and classification of potato leaf diseases, surpassing the accuracy reported in previous literature. Our system provides a means to improve agricultural productivity in Pakistan by enabling accurate and timely disease detection and monitoring of environmental factors. © 2024, The Authors. All rights reserved.

关键词： Agricultural robots

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A self-powered multifunctional dressing for active infection prevention and accelerated wound healing

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Science Advances 2023年第4期9卷 eadc8758页

作者： Barman, Snigdha Roy Chan, Shuen-Wen Kao, Fu-Cheng Ho, Hsuan-Yu Khan, Imran Pal, Arnab Huang, Chih-Ching Lin, Zong-Hong Institute of Biomedical Engineering National Tsing Hua University Hsinchu30013 Taiwan International Intercollegiate Ph.D. Program National Tsing Hua University Hsinchu30013 Taiwan Department of Biomedical Engineering and Environmental Sciences National Tsing Hua University Hsinchu30013 Taiwan Department of Orthopaedic Surgery Spine Section Chang Gung Memorial Hospital Taoyuan33305 Taiwan College of Medicine Chang Gung University Taoyuan33302 Taiwan Department of Power Mechanical Engineering National Tsing Hua University Hsinchu30013 Taiwan Institute of NanoEngineering and Microsystems National Tsing Hua University Hsinchu30013 Taiwan Department of Bioscience and Biotechnology National Taiwan Ocean University Keelung202301 Taiwan Center of Excellence for the Oceans National Taiwan Ocean University Keelung202301 Taiwan School of Pharmacy College of Pharmacy Kaohsiung Medical University Kaohsiung80708 Taiwan Department of Chemistry National Tsing Hua University Hsinchu30013 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan

Interruption of the wound healing process due to pathogenic infection remains a major health care challenge. The existing methods for wound management require power sources that hinder their utilization outside of clinical settings. Here, a next generation of wearable self-powered wound dressing is developed, which can be activated by diverse stimuli from the patient’s body and provide on-demand treatment for both normal and infected wounds. The highly tunable dressing is composed of thermocatalytic bismuth telluride nanoplates (Bi2Te3 NPs) functionalized onto carbon fiber fabric electrodes and triggered by the surrounding temperature difference to controllably generate hydrogen peroxide to effectively inhibit bacterial growth at the wound site. The integrated electrodes are connected to a wearable triboelectric nanogenerator (TENG) to provide electrical stimulation for accelerated wound closure by enhancing cellular proliferation, migration, and angiogenesis. The reported self-powered dressing holds great potential in facilitating personalized and user-friendly wound care with improved healing outcomes. Copyright © 2023 The Authors, some rights reserved.

关键词： Patient treatment

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