Anatomic Characterization and Profilometry of Tissues with Natural Shape: A Real-time Approach for Robotic-Assisted Minimally Invasive Surgery

This master thesis is divided into two major sections. First, anatomic characterization and profilometry of tissues with natural shape: a real-time approach for robotic-assisted minimally invasive surgery (RMIS); and second, design and characterization of a novel tactile array sensor capable of differentiating among different viscoelastic tissues that exhibit time-dependent behaviour. The first part of this thesis is focused on a tissue characterization system for RMIS applications. RMIS has gained immense popularity with the advent of high-precision robotic systems. The lack of haptic feedback, however, is considered as being one of the main drawbacks of present-day RMIS systems. In order to compensate for this deficiency, a novel tissue characterization system is proposed which is inspired from the human haptic system. Hence, kinesthetic and tactile feedback which are constitutive components of human haptic system are used to characterize naturally shaped tissues. Toward this goal, a 5-degree-of-freedom robot which is called Catalys5 is equipped with a ball caster force-cell. The system is used to simulate robotic surgery maneuvers in which an admittance control approach is implemented to design the force feedback controller. The proposed method characterizes naturally shaped tissues, which is capable of touching and palpating to: a) Identify the 2D or 3D surface profile of the target tissue (profilometry), b) Measure the modulus of elasticity of any desired point on the tissue’s surface, c) Find and map the location of any lump in the tissue, and d) Map hardness distribution around the lump. Initially, silicon-rubber materials were used to build tissue phantoms with different curvatures and degrees of softness. The surface profiles were obtained using the developed profilometry algorithm and validated using a 3D scanner. In addition, several experiments were conducted on bovine tissues to evaluate all above mentioned capabilities of the system. The results of experiments on real tissues were also compared to those that are available in current literature. The results indicate that the proposed approach can be used for reliable material characterization for RMIS application. The second part of this thesis is focused on developing an array tactile sensor for distinguishing softness of viscoelastic tissues with time-dependent behaviour for use in MIS and RMIS. Review of literature on tactile sensors reveals that the vast majority deals with determining the applied contact force and object elasticity. In this research, a novel idea is proposed in which a tactile sensor array can measure rate of displacement in addition to force and displacement of any viscoelastic material during the course of a single touch. In order to verify this new array sensor, several experiments were conducted on a range of biological tissues. It was concluded that this novel tactile sensor can distinguish among the softness of real biological tissue with time-dependent behaviour

Complementary Situational Awareness for an Intelligent Telerobotic Surgical Assistant System

Robotic surgical systems have contributed greatly to the advancement of Minimally Invasive Surgeries (MIS). More specifically, telesurgical robots have provided enhanced dexterity to surgeons performing MIS procedures. However, current robotic teleoperated systems have only limited situational awareness of the patient anatomy and surgical environment that would typically be available to a surgeon in an open surgery. Although the endoscopic view enhances the visualization of the anatomy, perceptual understanding of the environment and anatomy is still lacking due to the absence of sensory feedback. In this work, these limitations are addressed by developing a computational framework to provide Complementary Situational Awareness (CSA) in a surgical assistant. This framework aims at improving the human-robot relationship by providing elaborate guidance and sensory feedback capabilities for the surgeon in complex MIS procedures. Unlike traditional teleoperation, this framework enables the user to telemanipulate the situational model in a virtual environment and uses that information to command the slave robot with appropriate admittance gains and environmental constraints. Simultaneously, the situational model is updated based on interaction of the slave robot with the task space environment. However, developing such a system to provide real-time situational awareness requires that many technical challenges be met. To estimate intraoperative organ information continuous palpation primitives are required. Intraoperative surface information needs to be estimated in real-time while the organ is being palpated/scanned. The model of the task environment needs to be updated in near real-time using the estimated organ geometry so that the force-feedback applied on the surgeon's hand would correspond to the actual location of the model. This work presents a real-time framework that meets these requirements/challenges to provide situational awareness of the environment in the task space. Further, visual feedback is also provided for the surgeon/developer to view the near video frame rate updates of the task model. All these functions are executed in parallel and need to have a synchronized data exchange. The system is very portable and can be incorporated to any existing telerobotic platforms with minimal overhead

Validation of the Haptic Cow: A simulator for training veterinary students

A virtual reality simulator, the Haptic Cow, has been developed using touch feedback technology for training veterinary students to perform bovine rectal palpation of the reproductive tract. The simulator was designed to supplement existing training and address some of the difficulties associated with teaching palpation-based skills. Students need to achieve a certain level of proficiency by graduation but this has become increasingly difficult because of problems with current training methods and a reduction in the number of opportunities to practice. A simulator- based teaching tool was developed as a potential solution. The first step involved designing a simulator on the basis of requirements established through consultation with both veterinary surgeons, as teachers, and students, as learners. Research was then undertaken to validate the simulator by following a set of established criteria described for the evaluation of new technologies used in medical education. The virtual models were assessed by experts as realistic enough representations of the same structures in the cow. An experiment to assess the effect of simulator training compared the performance of one group of students, whose training was supplemented with a simulator session, with another group of traditionally trained students. The subsequent performance for finding and identifying the uterus when examining cows for the first time, was significantly better for the simulator trained group, indicating that skills learned in the simulator environment transferred to the real task. A project was also undertaken to integrate the simulator into a curriculum, with training included as part of the farm animal course at the University of Glasgow Veterinary School. The training was well received by students, useful feedback was gathered and the simulator continues to be used as part of the course. Further developments were undertaken with the aim of creating a more versatile teaching tool and addressing some of the questions and issues raised. An automated version of the Haptic Cow was designed for students to use on their own, with computer guidance replacing the instructor's role. An evaluation found that the new version of the teaching tool was both usable and an effective way of equipping students with the skills required to find and identify the uterus. The potential to use haptic technology to investigate various aspects of performance was also explored in relation to the question of hand choice for certain palpation-based skills: differentiating between objects on the basis of softness and size. Ongoing research and development options are discussed, with the aim of building on the current work by expanding the role of haptic technology in veterinary education in the future

Lectures on internal medicine propaedeutics

Курс лекцій для студентів третіх курсів медичних факультетів з пропедевтики внутрішньої медицини за англійською формою навчання на англійській мові. Розглядаються підхід, методи обстеження та основні клінічні синдроми пацієнтів з захворюваннями дихальної, серцево-судинної, травної, видільної, кістково-м’язової, сполучної, кров’яної та ендокринної систем.Lecture 1 Propaedeutics as an introduction to the clinic of internal medicine Lecture 2 Approach to the patient Lecture 3 Approach to the patient with disease of the respiratory system Lecture 4 Approach to the patient with disease of the cardiovascular system Lecture 5 Approach to the patient with gastrointestinal tract diseases Lecture 6 Approach to the Patient with diseases of the hepatobiliary tract and pancreas Lecture 7 Approach to the patient with affection and disease of the kidneys Lecture 8 Approach to the patient with affection and disease of the musculoskeletal system and connective tissue Lecture 9 Approach to the patient with affection and disease of the blood Lecture 10 Approach to the patient with affection and disease of the endocrine system Lecture 11 Syndromes of respiratory system diseases Lecture 12 Syndromes of cardiovascular system diseases Lecture 13 Syndromes of gastrointestinal tract diseases Lecture 14 Syndromes of hepatobiliary tract and exocrine pancreas diseases Lecture 15 Syndromes of kidneys diseases Lecture 16 Syndromes of the musculoskeletal system and connective tissue diseases Lecture 17 Syndromes of the blood system diseases Lecture 18 Syndromes of the endocrine system disease

Surgical Ophthalmic Oncology

Designed as an easy-to-use, practical guide to tumors of the eye, lids, and orbit, this Open Access book comprehensively addresses surgical treatment and management of diseases related to ophthalmic oncology. Surgical Ophthalmic Oncology: A Collaborative Open Access Reference is an ideal reference for general ophthalmologists, surgeons, fellows and trainees around the world who encounter these diseases in the care of their patients. Notably, this book includes considerations for those ophthalmologists offering subspecialty care in environments with limited access to advanced technology and instrumentation. Individual chapters address diagnostic indications, pre-operative and post-operative concerns, and provide detailed explanations of surgical techniques required to manage various eye cancer ailments with help of ample illustrations. High-quality videos included throughout the book provide readers with the opportunity to review surgical steps in real-time as a learning tool. Chapters thoroughly cover tumors of eyelid, cornea and conjunctiva, orbit as well as intraocular tumors, while later chapters discuss ophthalmic radiation therapy. The book concludes with a section on ophthalmic pathology which details essential guidelines on relevant aspects from specimen collection and transport, to interpretation of the pathology report. Surgical Ophthalmic Oncology: A Collaborative Open Access Reference is a unique and necessary valuable resource for ophthalmologists, trainees, and related medical professionals working in underserved areas in providing quality care for patients suffering from ocular cancers. ; Open Access text that discusses Preferred Practice Guidelines for common surgeries performed on tumors of the eye and adnexa Written for general ophthalmologists providing oncology care and specialists practicing in areas with limited access to advanced technology and instrumentation Includes chapters on eyelid tumors, conjunctival and corneal tumors, intraocular tumors, brachytherapy, and ocular pathology Each chapter includes extensive color pictures and relevant video to assist the clinician in the various surgical procedures discusse

Revision topics in otology

This e book covers all important topics in otology. Frequently asked exam questions are discussed in detail in this e book. This book will help students of otolaryngology during their exam preparations. This record was migrated from the OpenDepot repository service in June, 2017 before shutting down

Surgical Ophthalmic Oncology

Designed as an easy-to-use, practical guide to tumors of the eye, lids, and orbit, this Open Access book comprehensively addresses surgical treatment and management of diseases related to ophthalmic oncology. Surgical Ophthalmic Oncology: A Collaborative Open Access Reference is an ideal reference for general ophthalmologists, surgeons, fellows and trainees around the world who encounter these diseases in the care of their patients. Notably, this book includes considerations for those ophthalmologists offering subspecialty care in environments with limited access to advanced technology and instrumentation. Individual chapters address diagnostic indications, pre-operative and post-operative concerns, and provide detailed explanations of surgical techniques required to manage various eye cancer ailments with help of ample illustrations. High-quality videos included throughout the book provide readers with the opportunity to review surgical steps in real-time as a learning tool. Chapters thoroughly cover tumors of eyelid, cornea and conjunctiva, orbit as well as intraocular tumors, while later chapters discuss ophthalmic radiation therapy. The book concludes with a section on ophthalmic pathology which details essential guidelines on relevant aspects from specimen collection and transport, to interpretation of the pathology report. Surgical Ophthalmic Oncology: A Collaborative Open Access Reference is a unique and necessary valuable resource for ophthalmologists, trainees, and related medical professionals working in underserved areas in providing quality care for patients suffering from ocular cancers. ; Open Access text that discusses Preferred Practice Guidelines for common surgeries performed on tumors of the eye and adnexa Written for general ophthalmologists providing oncology care and specialists practicing in areas with limited access to advanced technology and instrumentation Includes chapters on eyelid tumors, conjunctival and corneal tumors, intraocular tumors, brachytherapy, and ocular pathology Each chapter includes extensive color pictures and relevant video to assist the clinician in the various surgical procedures discusse