Smart actuation and sensing for meso-scale surgical robotic systems

This dissertation presents the development of meso-scale surgical robotics based on smart actuation and sensing for minimally invasive surgery (MIS). By replacing conventional straight tools by steerable surgical robots, surgical outcomes can potentially be improved due to more precise, stable, and flexible manipulation. Since bending and torsion are the two fundamental motion forms required by surgical tools to complete general surgical procedures, compact torsion and bending modules, both integrated with intrinsic sensors for motion feedback, have been developed based on shape memory alloy (SMA). The developed actuation and sensing techniques have been applied on a robot for neurosurgical intracerebral hemorrhage evacuation (NICHE) and a steerable catheter for atrial fibrillation (AFib) treatment. The NICHE robot consists of a straight stem, an SMA torsion module, and an SMA bending module as a distal bending tip. By synchronizing the motion of the stem, the bending module, and the torsion module, the robot is capable of tip articulation within the brain to remove hemorrhage effectively through suction and electrocauterization. In addition, a skull-mounted robotic headframe has been developed based on a Stewart platform to manipulate the NICHE robot. The robotic catheter is developed by integrating multiple SMA bending modules with flexible braid reinforced tubing. Polymer 3D-printing is used to fabricate all the structural components due to its relatively low cost, short fabrication period, and capability of fabricating complicated structures with high accuracy. The developed surgical robotic systems have been thoroughly evaluated using phantom or cadaver models under computed tomography (CT) and/or magnetic resonance imaging (MRI) guidance. The imaging-guided experimental studies showed that the developed robotic systems consisting of smart actuation and sensing were compatible with CT and MR imaging.Ph.D

Ultrasound and dynamic functional imaging in vascular cognitive impairment and Alzheimer's disease

The vascular contributions to neurodegeneration and neuroinflammation may be assessed by magnetic resonance imaging (MRI) and ultrasonography (US). This review summarises the methodology for these widely available, safe and relatively low cost tools and analyses recent work highlighting their potential utility as biomarkers for differentiating subtypes of cognitive impairment and dementia, tracking disease progression and evaluating response to treatment in various neurocognitive disorders. METHODS: At the 9th International Congress on Vascular Dementia (Ljubljana, Slovenia, October 2015) a writing group of experts was formed to review the evidence on the utility of US and arterial spin labelling (ASL) as neurophysiological markers of normal ageing, vascular cognitive impairment (VCI) and Alzheimer's disease (AD). Original articles, systematic literature reviews, guidelines and expert opinions published until September 2016 were critically analysed to summarise existing evidence, indicate gaps in current knowledge and, when appropriate, suggest standards of use for the most widely used US and ASL applications. RESULTS: Cerebral hypoperfusion has been linked to cognitive decline either as a risk or an aggravating factor. Hypoperfusion as a consequence of microangiopathy, macroangiopathy or cardiac dysfunction can promote or accelerate neurodegeneration, blood-brain barrier disruption and neuroinflammation. US can evaluate the cerebrovascular tree for pathological structure and functional changes contributing to cerebral hypoperfusion. Microvascular pathology and hypoperfusion at the level of capillaries and small arterioles can also be assessed by ASL, an MRI signal. Despite increasing evidence supporting the utility of these methods in detection of microvascular pathology, cerebral hypoperfusion, neurovascular unit dysfunction and, most importantly, disease progression, incomplete standardisation and missing validated cut-off values limit their use in daily routine. CONCLUSIONS: US and ASL are promising tools with excellent temporal resolution, which will have a significant impact on our understanding of the vascular contributions to VCI and AD and may also be relevant for assessing future prevention and therapeutic strategies for these conditions. Our work provides recommendations regarding the use of non-invasive imaging techniques to investigate the functional consequences of vascular burden in dementia

Updating Active Deformation Inventory Maps in Mining Areas by Integrating InSAR and LiDAR Datasets

Slope failures, subsidence, earthworks, consolidation of waste dumps, and erosion are typical active deformation processes that pose a significant hazard in current and abandoned mining areas, given their considerable potential to produce damage and affect the population at large. This work proves the potential of exploiting space-borne InSAR and airborne LiDAR techniques, combined with data inferred through a simple slope stability geotechnical model, to obtain and update inventory maps of active deformations in mining areas. The proposed approach is illustrated by analyzing the region of Sierra de Cartagena-La Union (Murcia), a mountainous mining area in southeast Spain. Firstly, we processed Sentinel-1 InSAR imagery acquired both in ascending and descending orbits covering the period from October 2016 to November 2021. The obtained ascending and descending deformation velocities were then separately post-processed to semi-automatically generate two active deformation areas (ADA) maps by using ADATool. Subsequently, the PS-InSAR LOS displacements of the ascending and descending tracks were decomposed into vertical and east-west components. Complementarily, open-access, and non-customized LiDAR point clouds were used to analyze surface changes and movements. Furthermore, a slope stability safety factor (SF) map was obtained over the study area adopting a simple infinite slope stability model. Finally, the InSAR-derived maps, the LiDAR-derived map, and the SF map were integrated to update a previously published landslides’ inventory map and to perform a preliminary classification of the different active deformation areas with the support of optical images and a geological map. Complementarily, a level of activity index is defined to state the reliability of the detected ADA. A total of 28, 19, 5, and 12 ADAs were identified through ascending, descending, horizontal, and vertical InSAR datasets, respectively, and 58 ADAs from the LiDAR change detection map. The subsequent preliminary classification of the ADA enabled the identification of eight areas of consolidation of waste dumps, 11 zones in which earthworks were performed, three areas affected by erosion processes, 17 landslides, two mining subsidence zone, seven areas affected by compound processes, and 23 possible false positive ADAs. The results highlight the effectiveness of these two remote sensing techniques (i.e., InSAR and LiDAR) in conjunction with simple geotechnical models and with the support of orthophotos and geological information to update inventory maps of active deformation areas in mining zones.This research was funded by the ESA-MOST China DRAGON-5 project (ref. 59339) and funded by a Chinese Scholarship Council studentship awarded to Liuru Hu (Ref. 202004180062)

Clinical Validation of an Optical Surface Detection System for Stereotactic Radiosurgery with Frameless Immobilization Device in CNS Tumors

Tese de mestrado integrado, Engenharia Biomédica e Biofísica (Radiações em Diagnóstico e Terapia), 2022Stereotactic Radiosurgery (SRS) has been consolidated in recent years as the treatment of choice in selected central nervous system (CNS) tumors. With the introduction of stereotactic approach in clinical practice, accurate immobilization and motion control during treatment becomes fundamental. During SRS treatments, the common practice is to immobilize CNS patients in a cushion molded head support, with specific open-face thermoplastic masks. To verify and correct internal isocenter uncertainties before and during treatment, X-Ray volumetric imaging (XVI) is performed - image guided radiation therapy (IGRT). An alternative to mid‐treatment imaging is optical surface detection (OSD) imaging – a non‐invasive, non‐radiographic form of image guidance – to monitor patient intra-fraction motion. This imaging technique has shown to properly position, accurately monitor, and quantify patient movements throughout the entirety of the treatment – surface guided radiation therapy (SGRT). The aim of this investigation is to test the viability of the implementation of a maskless immobilization approach, using only a vacuum mouthpiece suction system for head fixation in patients with CNS tumors who will undergo SRS treatment under the guidance of an OSD system coupled with 6-Degree of Freedom (6-DOF) robotic couch for submillimeter position correction. This master thesis addresses the five technical performance tests conducted on the Linear Accelerator components – XVI, HexaPOD couch and OSD system in the Radiotherapy Department of Hospital CUF Descobertas. The results obtained lecture the best acquisition orientation to perform image verification; if the HexaPOD couch is correctly calibrated to the XVI radiation isocenter to assure submillimeter corrections; OSD system performance regarding phantom surface detection since some immobilization components can block the signal reading; which coplanar and non-coplanar angles occur most signal inconsistencies due to camera pod occlusion; what is the overall OSD system accuracy and what is the best non-coplanar angle arrangement to perform an SRS treatment with OSD system monitoring

The identification of the vulnerable carotid plaque and haemodynamic compromise of the brain in carotid artery stenosis

Introduction: Carotid stenosis plays a large role in the aetiology of ischaemic stroke. The main mechanism of carotid stenosis causing stroke is the forming of thrombus and consequently embolus formation. Another mechanism is the compromise in haemodynamics: reduced blood flow distal from the stenosis causing hypoperfusion of the brain. This work investigates the current prevalence of carotid stenosis in ischaemic stroke. It also explores the role of transcranial Doppler (TCD) and brain perfusion imaging with magnetic resonance imaging in patients with carotid stenosis. Methods: The current prevalence of carotid stenosis was assessed in a comprehensive Central London hyper-acute stroke unit and a systematic review with meta-regression analysis was conducted on the prevalence of carotid stenosis. Patient individual risk factors and morphological characteristics of the carotid plaque were associated with the presence of micro-embolic signals on TCD. The perfusion of the brain was assessed in patients with carotid stenosis and those who underwent carotid endarterectomy (CEA). Results: The prevalence of carotid stenosis 350% in the local stroke unit was 19.0%, including 7.9% with symptomatic stenosis. The pooled prevalence estimate of carotid stenosis, described in 37 studies in the literature, was 16.0% and has not declined over time. Intraplaque haemorrhage was associated with a higher risk of future stroke by detection of micro-embolic signals on TCD. Haemodynamic factors played a great role in stroke, especially in patients with stenosis 370%. Cerebral perfusion improved significantly in patients who underwent CEA, especially in those who initially had 370% stenosis. Conclusion: Morphology of the plaque, more than the degree of stenosis, is an important predictive feature of the unstable carotid plaque, whilst the degree of stenosis is more relevant to the hypoperfused brain. There is evidence for a synergic role of embolism and haemodynamic compromise as a mechanism of ischaemic stroke in carotid stenosis