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TechRxiv 2023年

作者： Huang, Hen-Wei Chen, Jack Rupp, Philipp Ehmke, Claas Chai, Peter R. Dhar, Riya Ballinger, Ian Traverso, Giovanni Division of Medicine Brigham & Women’s Hospital Harvard Medical School BostonMA02115 United States The Koch Institute for Integrative Cancer Research Massachusetts Institute of Technology CambridgeMA02142 United States Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Multi-Scale Robotics Lab Department of Mechanical and Process Engineering ETH Zurich Tannenstrasse 3 ZurichCH-8092 Switzerland Department of Emergency Medicine Brigham & Women’s Hospital Harvard Medical School BostonMA02115 United States

The Covid-19 Pandemic has renewed interest in contactless vital signs monitoring using state-of-the-art computer vision, which can efficiently screen for symptoms while reducing the risk of disease transmission. Despite the promising performance, the use of static camera setups requires subjects to remain static inside a field of view (FoV) for a pre-specified duration. Due to inconsistent ambient environmental conditions, the transit of individuals through the FoV, and the time it may take to triage individuals, the widespread adoption of static camera systems to continuously monitor vital signs has had suboptimal uptake. Robotic systems enable autonomous and continuous monitoring, but these require expensive cameras, computers, and robotic platforms, limiting widespread deployment. In response, we propose a cost-effective and scalable robotic solution consisting of a suite of commercial, off-the-shelf wireless cameras for capturing photoplethysmography (PPG) on ambulatory subjects linked to a single computer that supervises the cameras to compute the vital signs of subjects. Throughout a set of careful investigations of each individual step of the wireless machine vision camera and computer, bottlenecks constraining wireless live-streaming of high-quality PPG information are identified and those are addressed by a hybrid centralized/decentralized wireless machine vision protocol. Our results demonstrate that the proposed cost-effective wireless camera achieves equivalent remote-PPG accuracy to its costly, USB3 counterparts (mean error: 5.0 BMP vs. 4.7 BPM) by means of the hybrid camera protocol which boosts the overall frame rate to 17 FPS. In contrast, using the standard method that captures the PPG with the same spatial resolution can only achieve 1 FPS. In addition, this work also elucidates how varying the distance, image pixel density, frame rate, image compression, image downsampling, and color depth affect the rPPG performance. For each of the effects, we a

关键词： robotics

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Stiffness Characterization and Micromanipulation for Biomedical Applications using the Vision-based Force-Sensing Magnetic Mobile Microrobot

Stiffness Characterization and Micromanipulation for Biomedi...

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International Conference on Manipulation, Automation and robotics at Small scales (MARSS)

作者： Georges Adam Mazin Hakim Luis Solorio David J. Cappelleri Multi-Scale Robotics and Automation Lab School of Mechanical Engineering Purdue University West Lafayette IN USA Weldon School of Biomedical Engineering Purdue University West Lafayette IN USA

ISBN: (数字)9781728193496

ISBN: (纸本)9781728193502

This paper presents the use of a micro-force sensing mobile microrobot (μFSMM) for in vitro biomedical applications. The μFSMM utilizes a vision-based force sensor end-effector, which computes the force based on the deflection of a compliant structure with a known stiffness using a computer vision tracking algorithm. The μFSMM is used to characterize the stiffness of several different alginate and hyaluronic acid hydrogel spheroid samples, which are typically used in 3D tissue engineered constructs for studying cellular behavior. Additionally, μFSMM is used to perform safe micromanipulation tasks with these spheroids. These experimental results showcase some of the applications of this unique microrobot design in the fields of mechanobiology, theranostics, and force-guided micromanipulation.

关键词： Robot sensing systems Sensors Robots Force Electronic countermeasures Biomedical measurement Three-dimensional displays

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Integration of ferroelectric materials in microdevices for biomedical application

Integration of ferroelectric materials in microdevices for b...

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第9届纳米操纵、制造与测量国际会议

作者： Xiangzhong Chen Bradley J.Nelson Salvador Pané Multi-Scale Robotics Lab(MSRL) Institute of Robotics and Intelligent System Swiss Federal Institute of Technology(ETH)ZurichSwitzerland

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Magnetoelectric effect in hydrogen harvesting: Magnetic field as a trigger of catalytic reactions

arXiv

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arXiv 2021年

作者： Kim, Donghoon Efe, Ipek Torlakcik, Harun Terzopoulou, Anastasia Picazo, Andrea Veciana Siringil, Erdem Mushtaq, Fajer Franco, Carlos Puigmartí-Luis, Josep Nelson, Bradley Spaldin, Nicola A. Gattinoni, Chiara Chen, Xiangzhong Pané, Salvador Multi-Scale Robotics Lab Institute of Robotics and Intelligence Systems ETH Zürich Tannenstrasse 3 ZürichCH-8092 Switzerland Materials Theory Lab Department of Materials ETH Zürich Wolfgang-Pauli-Strasse 27 Zürich8093 Switzerland Department of Chemical and Energy Engineering London South Bank University 103 Borough Rd LondonSE1 0AA United Kingdom Department of Physical Chemistry University of Barcelona Martí i Franquès 1 Barcelona08028 Spain ICREA Pg. Lluís Companys 23 Barcelona08010 Spain

Magnetic fields have been regarded as an additional stimulus for electro-and photocatalytic reactions, but not as a direct trigger for catalytic processes. multiferroic/magnetoelectric materials, whose electrical polarization and surface charges can be magnetically altered, are especially suitable for triggering and control of catalytic reactions solely with magnetic fields. Here, we demonstrate that magnetic fields can be employed as an independent input energy source for hydrogen harvesting by means of the magnetoelectric effect. Composite multiferroic CoFe2O4-BiFeO3core-shell nanoparticles act as catalysts for the hydrogen evolution reaction (HER) that is triggered when an alternating magnetic field is applied to an aqueous dispersion of the magnetoelectric nanocatalysts. Based on density functional calculations, we propose that the hydrogen evolution is driven by changes in the ferroelectric polarization direction of BiFeO3caused by the magnetoelectric coupling. We believe our findings will open new avenues towards magnetically induced renewable energy harvesting. © 2021, CC BY.

关键词： Iron compounds

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Modeling electromagnetic navigation systems for medical applications using random forests and artificial neural networks

arXiv

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arXiv 2019年

作者： Yu, Ruoxi Charreyron, Samuel L. Boehler, Quentin Weibel, Cameron Poon, Carmen C.Y. Nelson, Bradley J. Division of Biomedical Engineering Research Department of Surgery Chinese University of Hong Kong Shatin Hong Kong Multi-Scale Robotics Lab ETH Zurich Zurich Switzerland

Electromagnetic Navigation Systems (eMNS) can be used to control a variety of multiscale devices within the human body for remote surgery. Accurate modeling of the magnetic fields generated by the electromagnets of an eMNS is crucial for the precise control of these devices. Existing methods assume a linear behavior of these systems, leading to significant modeling errors within nonlinear regions exhibited at higher magnetic fields. In this paper, we use a random forest (RF) and an artificial neural network (ANN) to model the nonlinear behavior of the magnetic fields generated by an eMNS. Both machine learning methods outperformed the state-of-the-art linear multipole electromagnet method (LMEM). The RF and the ANN model reduced the root mean squared error of the LMEM when predicting the field magnitude by around 40% and 80%, respectively, over the entire current range of the eMNS. At high current regions, especially between 30 and 35 A, the field-magnitude RMSE improvement of the ANN model over the LMEM was over 35 mT. This study demonstrates the feasibility of using machine learning methods to model an eMNS for medical applications, and its ability to account for complex nonlinear behavior at high currents. The use of machine learning thus shows promise for improving surgical procedures that use magnetic navigation. Copyright © 2019, The Authors. All rights reserved.

关键词： Navigation systems

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Mesoscopic magnetic systems: From fundamental properties to devices

arXiv

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arXiv 2021年

作者： Heyderman, Laura J. Grollier, Julie Marrows, Christopher H. Vavassori, Paolo Grundler, Dirk Makarov, Denys Pané, Salvador Laboratory for Mesoscopic Systems Department of Materials ETH Zurich Zurich8093 Switzerland Laboratory for Multiscale Materials Experiments Paul Scherrer Institute Villigen PSI5232 Switzerland Unité Mixte de Physique CNRS Thales Université Paris-Saclay Palaiseau91767 France School of Physics & Astronomy University of Leeds LeedsLS2 9JT United Kingdom CIC nanoGUNE BRTA 20018 San Sebastian IKERBASQUE Basque Foundation for Science Bilbao48009 Spain Lausanne1015 Switzerland Helmholtz-Zentrum Dresden-Rossendorf e.V. Institute of Ion Beam Physics and Materials Research Dresden01328 Germany Multi-Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zürich Tannenstrasse 3 ZürichCH 8092 Switzerland

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Shared control of a magnetic microcatheter for vitreoretinal targeted drug delivery

Shared control of a magnetic microcatheter for vitreoretinal...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Charreyron, Samuel L. Zeydan, Burak Nelson, Bradley J. Multi Scale Robotics Lab ETH Zurich Tannenstrasse 3 Zurich8092 Switzerland

ISBN: (纸本)9781509046331

Retinal diseases including age-related macular degeneration and diabetic retinopathy are leading causes of visual impairment and a growing medical crisis worldwide. As a result, new therapies and methods of safely delivering these new therapies can be of significant benefit to society. In this paper, we present a proof-of-concept for performing drug delivery using flexible magnetic microcatheters. The potential benefits of these catheters are that they are safer to use than existing rigid vitreoretinal tools, are precisely manipulable, and can be used to deliver lower dosages of therapeutic agents to precisely targeted locations on the retina with higher efficacy. The task of positioning the catheter tip is shared between a human operator and a control algorithm, which have complementary skills and can separately address different aspects of the overall task. The system was tested in an eye-phantom by an untrained operator with a 93% success rate in reaching 43 target points uniformly dispersed over the retina. © 2017 IEEE.

关键词： Catheters

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Design of the I-BoomCopter UAV for environmental interaction

Design of the I-BoomCopter UAV for environmental interaction

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： McArthur, Daniel R. Chowdhury, Arindam B. Cappelleri, David J. Multi-Scale Robotics and Automation Lab School of Mechanical Engineering Purdue University West LafayetteIN47907 United States

ISBN: (纸本)9781509046331

This paper presents the design of the Interacting-BoomCopter (I-BoomCopter) unmanned aerial vehicle (UAV), designed specifically for environmental interactions. The novel design consists of a horizontally mounted four-blade reversible propeller on a front boom that is attached to a standard tri-rotor UAV configuration. A custom end-effector and force sensor is placed at the end of the front boom for autonomous pushing and pulling interaction tasks. The modeling of the new platform is presented and two prototype versions built, flight tested, and characterized. Finally, the efficacy of the new platform for environmental interactions is evaluated with an autonomous door opening task and a teleoperated door opening and door closing task. © 2017 IEEE.

关键词： Antennas

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Candybots: CANDYBOTS: A New Generation of 3D‐Printed Sugar‐Based Transient Small‐scale Robots (Adv. Mater. 52/2020)

引用

Advanced Materials 2020年第52期32卷 2070388-2070388页

作者： Simone Gervasoni Anastasia Terzopoulou Carlos Franco Andrea Veciana Norman Pedrini Jan T. Burri Carmela de Marco Erdem C. Siringil Xiang‐Zhong Chen Bradley J. Nelson Josep Puigmartí‐Luis Salvador Pané Multi‐Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Tannenstrasse 3 Zurich CH‐8092 Switzerland Departament de Química Física Facultat de Química Universitat de Barcelona Martí i Franquès 1 Barcelona 08028 Spain Catalan Institution for Research and Advanced Studies Pg. Lluís Companys 23 Barcelona 08010 Spain

Have a CANDYBOT! Sugars are among the main sources of energy, and essential building blocks for all forms of life. In article number 2005652, Xiang‐Zhong Chen, Josep Puigmartí‐Luis, Salvador Pané, and co‐workers report the development of sugar‐based architectures via 3D printing. Because of their inherent degradability and biocompatibility characteristics, these structures have the potential to be applied in transient small‐scale robots.

关键词： 3D printing magnetic manipulation magnetic materials small‐scale robotics

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Estimation-Based Control of a Magnetic Endoscope without Device Localization

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Journal of Medical robotics Research 2018年第1期3卷

作者： Edelmann, Janis Petruska, Andrew J. Nelson, Bradley J. Multi-Scale Robotics Lab Swiss Federal Institute of Technology (ETH) Zurich Switzerland Mechanical Engineering Department Colorado School of Mines CO United States

Magnetically controlled catheters and endoscopes can improve minimally invasive procedures as a result of their increased maneuverability when combined with modern magnetic steering systems. However, such systems have two distinct shortcomings: they require continuous information about the location of the instrument inside the human body and they rely on models that accurately capture the device behavior, which are difficult to obtain in realistic settings. To address both of these issues, we propose a control algorithm that continuously estimates a magnetic endoscope's response to changes in the actuating magnetic field. Experiments in a structured visual environment show that the control method is able to follow image-based trajectories under different initial conditions with an average control error that measures 1.8 % of the trajectory length. The usefulness for medical procedures is demonstrated with a bronchoscopic inspection task. In a proof-of-concept study, a custom 2mm diameter miniature camera endoscope is navigated through an anatomically correct lung phantom in a clinician-controlled manner. This represents the first demonstration of the controlled manipulation of a magnetic device without localization, which is critical for a wide range of medical procedures. © 2018 World Scientific Publishing Company.

关键词： Magnetic navigation miniature endoscope model-free control

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