3-D printing quantization predistortion applied to sub-THz chained-function filters

This paper investigates physical dimension limits associated with the low-cost, polymer-based masked stereolithography apparatus (MSLA) 3-D printer, with 50 μm pixels defining the minimum print feature size. Based on the discretization properties of our MSLA 3-D printer, multi-step quantization predistortion is introduced to correct for registration errors between the CAD drawing and slicing software. This methodology is applied to G-band 5th order metal-pipe rectangular waveguide filters, where the pixel pitch has an equivalent electrical length of 8.5° at center frequency. When compared to the reference Chebyshev filter, our chained-function filter exhibits superior S-parameter measurements, with a low insertion loss of only 0.6 dB at its center frequency of 182 GHz, having a 0.9% frequency shift, and an acceptable worst-case passband return loss of 13 dB. Moreover, with measured dimensions after the 3-D printed parts have been commercially electroplated with a 50 μm thick layer of copper, the re-simulations are in good agreement with the S-parameter measurements. For the first time, systematic (quantization) errors associated with a pixel-based 3-D printer have been characterized and our robust predistortion methodology has been successfully demonstrated with an upper-millimeter-wave circuit. Indeed, we report the first polymer-based 3-D printed filters that operate above W-band. As pixel sizes continue to shrink, more resilient (sub-)THz filters with ever-higher frequencies of operation and more demanding specifications can be 3-D printed. Moreover, our work opens-up new opportunities for any pixel-based technology, which exhibits registration errors, with its application critically dependent on its minimum feature size

Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery

International audienceThis paper presents a method for real-time augmented reality of internal liver structures during minimally invasive hepatic surgery. Vessels and tumors computed from pre-operative CT scans can be overlaid onto the laparoscopic view for surgery guidance. Compared to current methods, our method is able to locate the in-depth positions of the tumors based on partial three-dimensional liver tissue motion using a real-time biomechanical model. This model permits to properly handle the motion of internal structures even in the case of anisotropic or heterogeneous tissues, as it is the case for the liver and many anatomical structures. Experimentations conducted on phantom liver permits to measure the accuracy of the augmentation while real-time augmentation on in vivo human liver during real surgery shows the benefits of such an approach for minimally invasive surgery

Capstan drive transport system for motion picture film

The work presented describes the development of a capstan drive system for the transport of motion picture film. From a model description of the plant and computer aided system design analysis, control algorithms are formulated. The work shows how these relativity complex control algorithms are implemented by making use of the parallel processing capabilities of the transputer. A critical investigation of current film transport methods is undertaken leading to the design and testing of a prototype capstan drive mechanism. The capstan drive system is shown to eliminate problems of sprocket drives and their associated mechanisms. A multi-input multi-output controller is presented using state-space methods of design. The developed control strategies are fully tested on a model of the plant before hardware testing. The control outputs of the system are speed and tension. The final control solution is shown to be a combination of full-state feedback, integral control, and a Kalman filter estimator for the elimination of system disturbances. The transputer implementation of the developed control strategies is presented together with a comparison between simulation and experimental results. It is shown that computational times can be reduced by using multiple transputers and placing computation-intensive sections of the control algorithm on separate processors. Transputer configurations and interconnections are shown. The capstan system has been shown to allow faster printing speeds with improved transport accuracy leading to better quality of the final picture print. The system has been shown to be 'robust' to external disturbances and changes in plant parameters

Analysis of the capabilities of continuous high-speed microcontact printing

Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (p. 86-87).Microcontact printing uses elastomeric stamps to transfer ink onto a substrate by the process of self-assembly. It has the capability to print features as small as 200nm over large areas. Because of this it has many potential industrial applications in areas such as the manufacture of flexible displays and electronics. Roll to roll is the best model for the commercialization of microcontact printing since it offers advantages such as high throughput, convenient material handling and conformal contact propagation. We have designed and built a tool to study the behavior of microcontact printing in a roll to roll paradigm, with the three fold objective of printing at high speeds, over large areas and obtaining good quality. This thesis emphasizes the experimental part of our project. We have obtained results as low as 28 microns over areas of 5.8"x5" and tight dimensional distributions within 1 micron. According to our results, there is no evidence that the printing load and printing speed have any effect on the printing quality. We have been able to print at speeds as high as 400 fpm with contact times of 7 ms, over 8"x 8", albeit with defects such as air trapping at very high speeds. We have also built a prototype to demonstrate continuous etching as an accompanying process.by Kanika Khanna.M.Eng

Evaluation of objective tools and artificial intelligence in robotic surgery technical skills assessment: a systematic review

BACKGROUND: There is a need to standardize training in robotic surgery, including objective assessment for accreditation. This systematic review aimed to identify objective tools for technical skills assessment, providing evaluation statuses to guide research and inform implementation into training curricula. METHODS: A systematic literature search was conducted in accordance with the PRISMA guidelines. Ovid Embase/Medline, PubMed and Web of Science were searched. Inclusion criterion: robotic surgery technical skills tools. Exclusion criteria: non-technical, laparoscopy or open skills only. Manual tools and automated performance metrics (APMs) were analysed using Messick's concept of validity and the Oxford Centre of Evidence-Based Medicine (OCEBM) Levels of Evidence and Recommendation (LoR). A bespoke tool analysed artificial intelligence (AI) studies. The Modified Downs-Black checklist was used to assess risk of bias. RESULTS: Two hundred and forty-seven studies were analysed, identifying: 8 global rating scales, 26 procedure-/task-specific tools, 3 main error-based methods, 10 simulators, 28 studies analysing APMs and 53 AI studies. Global Evaluative Assessment of Robotic Skills and the da Vinci Skills Simulator were the most evaluated tools at LoR 1 (OCEBM). Three procedure-specific tools, 3 error-based methods and 1 non-simulator APMs reached LoR 2. AI models estimated outcomes (skill or clinical), demonstrating superior accuracy rates in the laboratory with 60 per cent of methods reporting accuracies over 90 per cent, compared to real surgery ranging from 67 to 100 per cent. CONCLUSIONS: Manual and automated assessment tools for robotic surgery are not well validated and require further evaluation before use in accreditation processes.PROSPERO: registration ID CRD42022304901

Computational Multispectral Endoscopy

Minimal Access Surgery (MAS) is increasingly regarded as the de-facto approach in interventional medicine for conducting many procedures this is due to the reduced patient trauma and consequently reduced recovery times, complications and costs. However, there are many challenges in MAS that come as a result of viewing the surgical site through an endoscope and interacting with tissue remotely via tools, such as lack of haptic feedback; limited field of view; and variation in imaging hardware. As such, it is important best utilise the imaging data available to provide a clinician with rich data corresponding to the surgical site. Measuring tissue haemoglobin concentrations can give vital information, such as perfusion assessment after transplantation; visualisation of the health of blood supply to organ; and to detect ischaemia. In the area of transplant and bypass procedures measurements of the tissue tissue perfusion/total haemoglobin (THb) and oxygen saturation (SO2) are used as indicators of organ viability, these measurements are often acquired at multiple discrete points across the tissue using with a specialist probe. To acquire measurements across the whole surface of an organ one can use a specialist camera to perform multispectral imaging (MSI), which optically acquires sequential spectrally band limited images of the same scene. This data can be processed to provide maps of the THb and SO2 variation across the tissue surface which could be useful for intra operative evaluation. When capturing MSI data, a trade off often has to be made between spectral sensitivity and capture speed. The work in thesis first explores post processing blurry MSI data from long exposure imaging devices. It is of interest to be able to use these MSI data because the large number of spectral bands that can be captured, the long capture times, however, limit the potential real time uses for clinicians. Recognising the importance to clinicians of real-time data, the main body of this thesis develops methods around estimating oxy- and deoxy-haemoglobin concentrations in tissue using only monocular and stereo RGB imaging data