2,513 research outputs found

    Assisted Magnetic Soft Continuum Robot Navigation via Rotating Magnetic Fields

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    Innovative robotic catheters that are soft, flexible, and controlled by magnets have the potential to revolutionize minimally invasive surgical procedures in critical areas such as the lungs, brain and pancreas, which currently pose significant safe access challenges using existing technology. These shape forming millimetre-scale magnetic soft continuum robots (MSCRs) can be designed to be highly dexterous in order to access regions of the anatomy otherwise deemed inaccessible. However, due to their soft and slender nature, MSCRs are prone to buckling under compressive loads during insertion. In this study we demonstrate buckling free insertion of high aspect ratio (80 mm long by 2 mm diameter) MSCRs into narrow, tortuous lumens enabled by coupling a specific lengthwise magnetic profile with exposure to a rotating magnetic field (RMF). We present design, finite element modelling (FEM) of the motion, fabrication and actuation of three different MSCRs. These robots are cast from NdFeB doped silicone polymer to obtain 2 mm and 3 mm diameter catheters. These are magnetized in a predefined profile such that when the catheters are placed in an RMF, a serpentine motion is generated. Experiments were conducted to quantify the behaviour of these soft catheters navigating through a soft phantom that mimicked narrow tortuous lumens such as the pancreas and bile ducts. Oscillating actuation increased the inserted depth reached by the MSCR in a tortuous channel and even enabled squeezing through a 1 mm diameter opening via shape morphing. The experiments showed that an RMF reduced the required insertion forces by almost 45% and increased the distance inserted in a fixed time frame by 3 times

    Computational techniques to interpret the neural code underlying complex cognitive processes

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    Advances in large-scale neural recording technology have significantly improved the capacity to further elucidate the neural code underlying complex cognitive processes. This thesis aimed to investigate two research questions in rodent models. First, what is the role of the hippocampus in memory and specifically what is the underlying neural code that contributes to spatial memory and navigational decision-making. Second, how is social cognition represented in the medial prefrontal cortex at the level of individual neurons. To start, the thesis begins by investigating memory and social cognition in the context of healthy and diseased states that use non-invasive methods (i.e. fMRI and animal behavioural studies). The main body of the thesis then shifts to developing our fundamental understanding of the neural mechanisms underpinning these cognitive processes by applying computational techniques to ana lyse stable large-scale neural recordings. To achieve this, tailored calcium imaging and behaviour preprocessing computational pipelines were developed and optimised for use in social interaction and spatial navigation experimental analysis. In parallel, a review was conducted on methods for multivariate/neural population analysis. A comparison of multiple neural manifold learning (NML) algorithms identified that non linear algorithms such as UMAP are more adaptable across datasets of varying noise and behavioural complexity. Furthermore, the review visualises how NML can be applied to disease states in the brain and introduces the secondary analyses that can be used to enhance or characterise a neural manifold. Lastly, the preprocessing and analytical pipelines were combined to investigate the neural mechanisms in volved in social cognition and spatial memory. The social cognition study explored how neural firing in the medial Prefrontal cortex changed as a function of the social dominance paradigm, the "Tube Test". The univariate analysis identified an ensemble of behavioural-tuned neurons that fire preferentially during specific behaviours such as "pushing" or "retreating" for the animal’s own behaviour and/or the competitor’s behaviour. Furthermore, in dominant animals, the neural population exhibited greater average firing than that of subordinate animals. Next, to investigate spatial memory, a spatial recency task was used, where rats learnt to navigate towards one of three reward locations and then recall the rewarded location of the session. During the task, over 1000 neurons were recorded from the hippocampal CA1 region for five rats over multiple sessions. Multivariate analysis revealed that the sequence of neurons encoding an animal’s spatial position leading up to a rewarded location was also active in the decision period before the animal navigates to the rewarded location. The result posits that prospective replay of neural sequences in the hippocampal CA1 region could provide a mechanism by which decision-making is supported

    Intestinal innervation and its role in mucosal damage and inflammation

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    The regulatory role of the autonomic nervous system (ANS) in intestinal inflammation and immunity is widely acknowledged. In this thesis, we investigated mediating pathways and demonstrated a pivotal role for the spleen. We studied the effect of electrical splenic nerve bundle stimulation (SpNS) in a mouse model of experimental colitis induced by dextran sulfate sodium and showed that SpNS reduced colitis. Further, we elucidated effects of sympathetic activity on intestinal mucosal homeostasis. Chemical sympathetic denervation through 6-hydroxydopamine led to enhanced intestinal inflammation, and impaired barrier integrity. In contrast, adrenergic receptor stimulation through UK 14,304, a specific receptor agonist, led to increased proliferation and stem cell function. Adrenergic receptor α2A was found to act as molecular delegate of intestinal epithelial sympathetic activity controlling cell proliferation, differentiation, and host defense. The ANS is a complex network activating numerous pathways and therefore effects can be ambiguous and are often challenging to interpret. Our studies increased the understanding of effects of autonomic neuronal activity on intestinal processes, and future studies should continue investigations with not only experimental, but also clinical research. Ultimately, a role for bioelectronic medicine in intestinal immunity and mucosal healing can be allocated and neuromodulatory techniques are to be examined as a plausible treatment modality

    The Long Lives of Old Lutes: The Cultural and Material History of the Veneration of Old Musical Instruments

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    This study examines the object biographies of musical instruments and the function of age in the cultural and material history of the lute. It follows the central question of why old instruments were valued more greatly than new ones and what measures had to be executed to adapt the objects to the ever-changing musical style. It traces the lute in its several cultural functions from the 17th to the 19th century: as a musical instrument, as a symbol, as a commodity, and as an object that had to be adapted, repaired, and altered by several generations of lute makers. This interdisciplinary approach uses a broad spectrum of sources from treatises, lute manuals, forewords in printed lute music, and depictions of lutes in literature, poetry, and visual arts to construct a narrative of the appreciation of old musical instruments. It investigates the material changes that were necessary to ensure their continued use by a profound study of more than 100 instruments in public and private collections. The different business models and prices in the trade of lutes are compared and connected to the common knowledge about old instruments and their brand characteristics among lute players. This study employs methods from musicology, organology, material culture studies, acoustics, economics, art history, technology, and digital humanities. This multivalent approach enhances the understanding of the general dynamics of commodities as status symbols, object biographies, and functional objects and connects them to the material and cultural history of objects using the lute as a case study.Die Studie untersucht die Objektbiografien von Musikinstrumenten und die Funktion des Alters für die kulturelle und materielle Geschichte von Lauteninstrumenten. Sie geht der zentralen Frage nach, warum alte Instrumente höher geschätzt wurden als neue und welche Maßnahmen ergriffen werden mussten, um die Objekte an den sich ständig verändernden Musikstil anzupassen. Sie verfolgt die Laute in ihren verschiedenen kulturellen Funktionen vom 17. bis zum 19. Jahrhundert: als Musikinstrument, als Symbol, als Gebrauchsgegenstand und als Objekt, das von mehreren Generationen von Lautenbauern angepasst, repariert und verändert werden musste. Der interdisziplinäre Ansatz nutzt ein breites Spektrum von Quellen wie Traktate, Lautenhandbücher, Vorworte in gedruckter Lautenmusik und Darstellungen von Lauten in Literatur, Poesie und bildender Kunst, um die Geschichte der Wertschätzung alter Musikinstrumente nachzuverfolgen. Anhand einer eingehenden Untersuchung von mehr als 100 Instrumenten in öffentlichen und privaten Sammlungen werden die Eingriffe untersucht, die notwendig waren, um ihre weitere Nutzung zu gewährleisten. Die unterschiedlichen Geschäftsmodelle und Preise im Handel mit Lauten werden verglichen und mit dem Wissensvorrat unter Lautenisten über alte Instrumente und deren Markencharakteristiken in Verbindung gebracht. Die Studie verwendet Methoden aus der Musikwissenschaft, der Organologie, der materiellen Kulturwissenschaft, der Akustik, der Ökonomie, der Kunstgeschichte, der Instrumentenbautechnologie und der Digital Humanities. Der multivalente Ansatz verbessert das Verständnis der allgemeinen Dynamik von Waren als Statussymbole, von Objektbiografien funktionaler Objekte und verbindet sie mit der materiellen und kulturellen Geschichte der Objekte am Beispiel der Laute

    Characterisation and State Estimation of Magnetic Soft Continuum Robots

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    Minimally invasive surgery has become more popular as it leads to less bleeding, scarring, pain, and shorter recovery time. However, this has come with counter-intuitive devices and steep surgeon learning curves. Magnetically actuated Soft Continuum Robots (SCR) have the potential to replace these devices, providing high dexterity together with the ability to conform to complex environments and safe human interactions without the cognitive burden for the clinician. Despite considerable progress in the past decade in their development, several challenges still plague SCR hindering their full realisation. This thesis aims at improving magnetically actuated SCR by addressing some of these challenges, such as material characterisation and modelling, and sensing feedback and localisation. Material characterisation for SCR is essential for understanding their behaviour and designing effective modelling and simulation strategies. In this work, the material properties of commonly employed materials in magnetically actuated SCR, such as elastic modulus, hyper-elastic model parameters, and magnetic moment were determined. Additionally, the effect these parameters have on modelling and simulating these devices was investigated. Due to the nature of magnetic actuation, localisation is of utmost importance to ensure accurate control and delivery of functionality. As such, two localisation strategies for magnetically actuated SCR were developed, one capable of estimating the full 6 degrees of freedom (DOFs) pose without any prior pose information, and another capable of accurately tracking the full 6-DOFs in real-time with positional errors lower than 4~mm. These will contribute to the development of autonomous navigation and closed-loop control of magnetically actuated SCR

    Designing LMPA-Based Smart Materials for Soft Robotics Applications

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    This doctoral research, Designing LMPA (Low Melting Point Alloy) Based Smart Materials for Soft Robotics Applications, includes the following topics: (1) Introduction; (2) Robust Bicontinuous Metal-Elastomer Foam Composites with Highly Tunable Mechanical Stiffness; (3) Actively Morphing Drone Wing Design Enabled by Smart Materials for Green Unmanned Aerial Vehicles; (4) Dynamically Tunable Friction via Subsurface Stiffness Modulation; (5) LMPA Wool Sponge Based Smart Materials with Tunable Electrical Conductivity and Tunable Mechanical Stiffness for Soft Robotics; and (6) Contributions and Future Work.Soft robots are developed to interact safely with environments. Smart composites with tunable properties have found use in many soft robotics applications including robotic manipulators, locomotors, and haptics. The purpose of this work is to develop new smart materials with tunable properties (most importantly, mechanical stiffness) upon external stimuli, and integrate these novel smart materials in relevant soft robots. Stiffness tunable composites developed in previous studies have many drawbacks. For example, there is not enough stiffness change, or they are not robust enough. Here, we explore soft robotic mechanisms integrating stiffness tunable materials and innovate smart materials as needed to develop better versions of such soft robotic mechanisms. First, we develop a bicontinuous metal-elastomer foam composites with highly tunable mechanical stiffness. Second, we design and fabricate an actively morphing drone wing enabled by this smart composite, which is used as smart joints in the drone wing. Third, we explore composite pad-like structures with dynamically tunable friction achieved via subsurface stiffness modulation (SSM). We demonstrate that when these composite structures are properly integrated into soft crawling robots, the differences in friction of the two ends of these robots through SSM can be used to generate translational locomotion for untethered crawling robots. Also, we further develop a new class of smart composite based on LMPA wool sponge with tunable electrical conductivity and tunable stiffness for soft robotics applications. The implications of these studies on novel smart materials design are also discussed

    Optical Measurement of Airborne Particles on Unmanned Aircraft

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    Aerosols and clouds are persistent causes of uncertainty in climate and weather models, which is due to their heterogeneous suspension and occurrence within the atmosphere, and complex interactions which are chaotic and exist on small scales. Unmanned aerial vehicles (UAVs) have grown in popularity, and are becoming more commonly used for general atmospheric measurement, particularly measurement of aerosols and clouds. This thesis presents and evaluates a synergy between two UAVs, a multi-rotor: the UH-AeroSAM octocopter and a fixed-wing: the FMI-Talon, and an optical particle instrument: the Universal Cloud and Aerosol Sounding System. Computational fluid dynamics with Lagrangian particle tracking (CFD-LPT) was used as a tool for the characterisation of the velocity fields and particle trajectories around both UAVs. In both instances CFD-LPT was used to develop an operational envelope, with particular attention to angle of attack constraints and size distribution perturbation, for the UAV – instrument synergy. UCASS was the first open path instrument to be used on a UAV, and a good case has been made for its continued use, particularly on fixed-wing UAVs, which exhibit less complex aerodynamics and superior stability in the induced sampling airflow through the instrument

    Spatial frequency domain imaging towards improved detection of gastrointestinal cancers

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    Early detection and treatment of gastrointestinal cancers has been shown to drastically improve patients survival rates. However, wide population based screening for gastrointestinal cancers is not feasible due to its high cost, risk of potential complications, and time consuming nature. This thesis forms the proposal for the development of a cost-effective, minimally invasive device to return quantitative tissue information for gastrointestinal cancer detection in-vivo using spatial frequency domain imaging (SFDI). SFDI is a non-invasive imaging technique which can return close to real time maps of absorption and reduced scattering coefficients by projecting a 2D sinusoidal pattern onto a sample of interest. First a low-cost, conventional bench top system was constructed to characterise tissue mimicking phantoms. Phantoms were fabricated with specific absorption and reduced scattering coefficients, mimicking the variation in optical properties typically seen in healthy, cancerous, and pre-cancerous oesophageal tissue. The system shows accurate retrieval of absorption and reduced scattering coefficients of 19% and 11% error respectively. However, this bench top system consists of a bulky projector and is therefore not feasible for in-vivo imaging. For SFDI systems to be feasible for in-vivo imaging, they are required to be miniaturised. Many conditions must be considered when doing this such as various illumination conditions, lighting conditions and system geometries. Therefore to aid in the miniaturisation of the bench top system, an SFDI system was simulated in the open-source ray tracing software Blender, where the capability to simulate these conditions is possible. A material of tunable absorption and scattering properties was characterised such that the specific absorption and reduced scattering coefficients of the material were known. The simulated system shows capability in detecting optical properties of typical gastrointestinal conditions in an up-close, planar geometry, as well in a non-planar geometry of a tube simulating a lumen. Optical property imaging in the non-planar, tubular geometry was done with the use of a novel illumination pattern, developed for this work. Finally, using the knowledge gained from the simulation model, the bench top system was miniaturised to a 3 mm diameter prototype. The novel use of a fiber array producing the necessary interfering fringe patterns replaced the bulky projector. The system showed capability to image phantoms simulating typical gastrointestinal conditions at two wavelengths (515 and 660 nm), measuring absorption and reduced scattering coefficients with 15% and 6% accuracy in comparison to the bench top system for the fabricated phantoms. It is proposed that this system may be used for cost-effective, minimally invasive, quantitative imaging of the gastrointestinal tract in-vivo, providing enhanced contrast for difficult to detect cancers

    Conception et évaluation d’un simulateur à réalité virtuelle d’intervention laparoscopique actionné par des embrayages magnétorhéologiques

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    La laparoscopie est une technique chirurgicale qui offre une alternative moins invasive à la chirurgie abdominale traditionnelle, en permettant aux patients de récupérer plus rapidement et avec moins de douleur. Dès son arrivée, cette nouvelle technique a su révolutionner le monde de la chirurgie, mais cette révolution est d'ailleurs venue avec un cout, une formation longue et difficile. Des simulateurs haptiques ont tenté de rendre cet apprentissage plus facile, mais leur cout élevé et leurs grosses dimensions les rendent difficiles d'accès pour les étudiants moyens. Afin de résoudre ce problème, des concepts qui utilisent des dispositifs haptiques sont offerts sur le marché pour concevoir des plateformes de simulation d'interventions laparoscopiques. Ces plateformes sont toutefois peu fidèles à la réalité et n'atteignent pas simultanément les performances dynamiques et cinétiques nécessaires à un apprentissage adéquat. En effet, les moteurs électriques utilisés obligent les concepteurs de dispositifs haptiques à faire un compromis entre la force produite et la réponse dynamique du système. Cette approche pourrait par contre être utilisée avec un dispositif haptique nouvelle-génération, le T-Rex. Ce dernier a été développé récemment par Exonetik, une compagnie issue de recherches de l'Université de Sherbrooke. Contrairement aux dispositifs haptiques offerts sur le marché, le T-Rex utilise la technologie d'actionneurs magnéto-rhéologiques développée par Exonetik. Cette technologie pourrait permettre d'atteindre les performances dynamiques et cinétiques nécessaires à la formation de chirurgiens. Ce projet de recherche présente l'analyse préliminaire du T-Rex d'Exonetik en tant que simulateur à réalité virtuelle d'interventions laparoscopiques. Un simulateur à réalité virtuelle d'interventions laparoscopiques utilisant le T-Rex d'Exonetik en tant qu'interface haptique a été conçu. Des critères de performances ont été établis à l'aide de la littérature pour faire une évaluation quantitative du système. Des simulations utilisant la méthode des éléments finis ont aussi été développées pour faire une évaluation qualitative du système auprès de résidents et de chirurgiens. L'évaluation quantitative du système démontre qu'il répond aux quatre critères cinématiques ainsi qu'à trois des quatre critères cinétiques. Les résultats démontrent donc que l'utilisation d'actionneurs magnéto-rhéologiques dans les simulateurs à réalité virtuelle d'interventions laparoscopiques a beaucoup de potentiel. Par contre, la friction dans le système se doit d'être adressée dans les itérations futures du système
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