Learning about tooth removal with robot technology

Deze PhD-thesis richt zich op een fundamenteel onderzoek van de extractieleer en maakt daarbij gebruik van robottechnologie. Het onderzoek omvat zes inhoudelijke hoofdstukken, waarin verschillende aspecten van dit onderwerp worden behandeld. Het tweede hoofdstuk analyseert de literatuur over robottechnologie in de tandheelkunde en wijst op de matige kwaliteit van beschikbare literatuur, zeker als het op klinische toepassingen aankomt. Hoofdstuk 3 biedt een overzicht van robotsystemen in alle deelgebieden van de tandheelkunde sinds 1985. Hoofdstuk 4 introduceert een meetopstelling om krachten en bewegingen bij tandextracties nauwkeurig vast te leggen, terwijl hoofdstuk 5 de resultaten van een serie experimenten voor wat betreft krachten en momenten weergeeft. Hoofdstuk 6 beschrijft het bewegingsbereik en de snelheden tijdens tandheelkundige extracties, zoals gemeten met een robotarm. Hoofdstuk 7 beschrijft de ontwikkeling en eigenschappen van een classificatiemodel voor extracties op basis van kracht- en bewegingsgegevens. De conclusie benadrukt de toenemende interesse in robotinitiatieven in de tandheelkunde, de behoefte aan wetenschappelijke validatie van de toegevoegde waarde daarvan en het potentieel van robottechnologie om ons fundamentele begrip van de extractieleer te vergroten. De studies benadrukken het belang van gegevensverzameling, analyse en samenwerking tussen verschillende disciplines om ons fundamentele begrip van extracties te verbeteren, met een focus op tandheelkundig onderwijs en uiteindelijk de patiëntenzorg

Dynamic time warping analysis in post-stroke rehabilitation

AbstractThis paper presents the application of the Dynamic Time Warping (DTW) algorithm in the analysis of human functional movements in activities of daily living (ADLs). Dynamic Time Warping was originally developed for automatic speech recognition, though the method has been adopted by several fi elds of biomechanics. As a part of the post-stroke rehabilitation project COSMOSYS, the aim is to quantify the ADL performances of hemiparetic subjects, hence to be able to track their progress during physiotherapy.DOI: 10.17489/biohun/2014/2/0

Novel methods to characterise texture changes during food breakdown : a thesis presented in partial fulfilment of the requirements for the degree of Doctor of Philosphy in Food Technology at Massey University, New Zealand

Figures 2-6 (=Ogawa et al., 2001 Fig 2) & 2-12 (=Hutchings & Lillford, 1998 Fig 1) were removed for copyright reasons. Some possibly copyrighted Figures remain for the sake of clarity, while other Figures are in the public domain.The purpose of the mastication process is to break down food for bolus formation so that it can be swallowed safely. Although light has been shed on the criterion for a swallow safe bolus, quantifying these in terms of the bolus properties is not fully understood. There is a lack of suitable measurement techniques to quantify these identified bolus properties. Thus, the purpose of this work was to develop novel techniques that would be useful in in-vitro studies of food breakdown for the characterisation of bolus properties. A mastication robot (MR) had been previously developed to enable the reproducible mastication of food so that masticatory efficiency and food breakdown dynamics can be assessed quantitatively. To evaluate if the MR could be a controllable and reproducible alternative to subjects for food break down studies, a series of experiments involving the mastication of peanuts using a range of machine parameters was conducted. The bolus particle size distributions were used to characterise the breakdown of the peanuts. There were significant differences in the average particle size of the particles chewed by the different chewing trajectories during the initial chews. The performance of the mastication robot was validated against human subjects (n=5) by comparing the particle size distribution (PSD) of peanut boluses collected from subjects and the MR. Although the MR was unable to achieve similar breakdown capability as that for the human subjects, the MR proved to have good reproducibility in bolus preparation. Two novel techniques were developed to characterise bolus properties. The slip extrusion test was developed to characterise two determinant properties for safe swallowing, the bolus deformation and slippage properties. The test measures the force needed to extrude a bolus through a test bag imitating the swallowing action of a bolus. The multiple pin penetrometer was previously developed to measure the spatial distribution of texture in foods exhibiting heterogenous structures. The forces experienced by each pin is measured independently as they pushed through the food, providing a pressure distribution for each food. This allowed the characterisation of fibrous (non-fracturable) foods in a similar way to PSD analysis, offering a method to characterise boluses that do not form discrete particles. The variability in the structure of the boluses was also characterised using the grey level co-occurrence matrix through the image textural features: contrast, energy and homogeneity. Finally, these developed novel techniques were applied to five real foods with varying textures to show how the MR and these techniques may be used to characterise the changes in bolus properties across the mastication stages. Subjects (n=5) were asked to masticate the foods to determine their chewing behaviour and the bolus properties (deformation and slip properties) at swallow point. The chewing parameters from the median subject (subject A) was used to establish the parameters for the mastication robot’s set up for the factorial design of experiments. The developed models from the factorial study were used to optimize the conditions needed for the MR to achieve boluses with similar DR and SR properties as subject A. The five foods were then broken down using the MR configured in this way, and bolus properties were evaluated at various stages of the mastication process through the application of the slip extrusion test, textural mapping using the multiple pin penetrometer, and the back-extrusion test. Factor analysis was applied to the various data collected, which showed that the properties related to the hardness, swallowability and homogeneity attributes were best at describing the changes in the boluses as they were masticated to swallow point. In conclusion, the mastication robot could be used to replicate human chewing trajectories to consistently produce boluses in a controlled trajectory with controlled “simulated saliva” rates throughout the various stages of mastication. Thus, it is relevant as a tool to produce boluses for comparative analysis especially for studies investigating the properties of boluses collected from various stages of the mastication process. In addition, the developed characterisation techniques could be used to track the dynamic changes in the bolus properties for most of the mastication stages from initial chews to the swallow point and beyond that

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not

Visual Tracking of Instruments in Minimally Invasive Surgery

Reducing access trauma has been a focal point for modern surgery and tackling the challenges that arise from new operating techniques and instruments is an exciting and open area of research. Lack of awareness and control from indirect manipulation and visualization has created a need to augment the surgeon's understanding and perception of how their instruments interact with the patient's anatomy but current methods of achieving this are inaccurate and difficult to integrate into the surgical workflow. Visual methods have the potential to recover the position and orientation of the instruments directly in the reference frame of the observing camera without the need to introduce additional hardware to the operating room and perform complex calibration steps. This thesis explores how this problem can be solved with the fusion of coarse region and fine scale point features to enable the recovery of both the rigid and articulated degrees of freedom of laparoscopic and robotic instruments using only images provided by the surgical camera. Extensive experiments on different image features are used to determine suitable representations for reliable and robust pose estimation. Using this information a novel framework is presented which estimates 3D pose with a region matching scheme while using frame-to-frame optical flow to account for challenges due to symmetry in the instrument design. The kinematic structure of articulated robotic instruments is also used to track the movement of the head and claspers. The robustness of this method was evaluated on calibrated ex-vivo images and in-vivo sequences and comparative studies are performed with state-of-the-art kinematic assisted tracking methods

Applied Cognitive Sciences

Cognitive science is an interdisciplinary field in the study of the mind and intelligence. The term cognition refers to a variety of mental processes, including perception, problem solving, learning, decision making, language use, and emotional experience. The basis of the cognitive sciences is the contribution of philosophy and computing to the study of cognition. Computing is very important in the study of cognition because computer-aided research helps to develop mental processes, and computers are used to test scientific hypotheses about mental organization and functioning. This book provides a platform for reviewing these disciplines and presenting cognitive research as a separate discipline

The 2nd Conference on Remotely Manned Systems (RMS): Technology and Applications

Control theory and the design of manipulators, teleoperators, and robots are considered. Applications of remotely manned vehicles to space maintenance and orbital assembly, industry and productivity, undersea operations, and rehabilitation systems are emphasized

Advanced Applications of Rapid Prototyping Technology in Modern Engineering

Rapid prototyping (RP) technology has been widely known and appreciated due to its flexible and customized manufacturing capabilities. The widely studied RP techniques include stereolithography apparatus (SLA), selective laser sintering (SLS), three-dimensional printing (3DP), fused deposition modeling (FDM), 3D plotting, solid ground curing (SGC), multiphase jet solidification (MJS), laminated object manufacturing (LOM). Different techniques are associated with different materials and/or processing principles and thus are devoted to specific applications. RP technology has no longer been only for prototype building rather has been extended for real industrial manufacturing solutions. Today, the RP technology has contributed to almost all engineering areas that include mechanical, materials, industrial, aerospace, electrical and most recently biomedical engineering. This book aims to present the advanced development of RP technologies in various engineering areas as the solutions to the real world engineering problems