The Design And Validations Of The Ultrasonic Tactile Sensor

An ultrasonic tactile sensor that can measure the stiffness of the tissue was developed. By combining analytical and numerical approaches, efficient design methodology was presented. The electrical and mechanical performance of developed sensor was experimentally validated

A Surface Mass-Spring Model with New Flexion Springs and Collision Detection Algorithms Based on Volume Structure for Real-time Soft-tissue Deformation Interaction

A critical problem associated with surgical simulation is balancing deformation accuracy with real-time performance. Although the canonical surface mass-spring model (MSM) can provide an excellent real-time performance, it fails to provide effective shape restoration behavior when generating large deformations. This significantly influences its deformation accuracy. To address this problem, this paper proposes a modified surface MSM. In the proposed MSM, a new flexion spring is first developed to oppose bending based on the included angle between the initial position vector and the deformational position vector, improving the shape restoration performance and enhance the deformational accuracy of MSM; then, a new type of surface triangular topological unit is developed for enhancing the computational efficiency and better adapting to the different topological soft tissue deformational models. In addition, to further improve the accuracy of deformational interactions between the soft tissue and surgical instruments, we also propose two new collision detection algorithms. One is the discrete collision detection with the volumetric structure (DCDVS), applying a volumetric structure to extend the effective range of collision detection; the other is the hybrid collision detection with the volumetric structure (HCDVS), introducing the interpolation techniques of the continuous collision detection to DCDVS. Experimental results show that the proposed MSM with DCDVS or HCDVS can achieve accurate and stable shape restoration and show the real-time interactive capability in the virtual artery vessel and heart compared with the canonical surface MSM and new volume MSM

Tactile sensing instrument design for discriminating features of deforming tissue structures within beef striploin

Automation has limited applications in meat processing, as automated cutting devices must follow predictable trajectories while maintaining acceptable line speeds. Primal cuts like striploin display significant variations in physical properties; the way each sample deforms under load is difficult to predict. Recent industry success with x-ray guided robotics for preliminary small-stock carcase processes, has not yet translated into similar results for the beef industry. Imaging devices are being considered for processes like striploin trimming, although research is currently ongoing. The requirements for manipulating the in vivo soft-tissue of humans during robotic assisted surgery differ from those for processing beef workpieces, but increased understanding of deforming tissue structures is evident in the design of robot-assisted surgical manipulators. Real-time response to tissue deformation and haptic feedback to operators of probes, rollers and grippers, enables discrimination of critical states and hidden features within a deforming soft-tissue medium. This project investigates a modelled tactile sensing scheme, utilising rolling contact to discriminate non-visible structural features of a beef striploin. Evidence based models for static structural deformation and viscoelastic beef tissues are applied to a representative geometric model for striploin. Prototype instrument kinematics and spring force profiles are combined to form a system model to predict wheel-tissue interactions between the instrument and a workpiece with variable composition of fat and lean tissues. Technology is key for the future of an industry highly dependent on skilled manual labour, sensitive to diverse customer requirements and adverse market fluctuations. Tactile sensing is fundamental in traditional beef processing. Viable complementary technology is likely to emerge with improved understanding of this underutilised sensing mode and the potential for new industrial applications of tactile instrumentation

Multiscale mechano-morphology of soft tissues : a computational study with applications to cancer diagnosis and treatment

Cooperation of engineering and biomedical sciences has produced significant advances in healthcare technology. In particular, computational modelling has led to a faster development and improvement of diagnostic and treatment techniques since it allows exploring multiple scenarios without additional complexity and cost associated to the traditional trial-and-error methodologies. The goal of this thesis is to propose computational methodologies to analyse how the changes in the microstructure of soft tissues, caused by different pathological conditions, influence the mechanical properties at higher length scales and, more importantly, to detect such changes for the purpose of quantitative diagnosis and treatment of such pathologies in the scenario of drug delivery. To achieve this objective different techniques based on quasi-static and dynamic probing have been established to perform quantitative tissue diagnosis at the microscopic (tissue) and macroscopic (organ) scales. The effects of pathologies not only affect the mechanical properties of tissue (e.g. elasticity and viscoelasticity), but also the transport properties (e.g. diffusivity) in the case of drug delivery. Such transport properties are further considered for a novel multi-scale, patient-specific framework to predict the efficacy of chemotherapy in soft tissues. It is hoped that this work will pave the road towards non-invasive palpation techniques for early diagnosis and optimised drug delivery strategies to improve the life quality of patientsJames-Watt Scholarship, Heriot-Watt Annual Fund and the Institute of Mechanical, Process and Energy Engineering (IMPEE) Grant

Caractérisation mécanique des orthèses : Application aux ceintures de soutien lombaire dans le cadre de la lombalgie

Low back pain is a pain felt in the lumbar region of the spine. Lumbar orthotics might be used to relieve this pain. Efficacy of lumbar orthotics was proved, but mechanical effects remain unclear. Aim of this project if to analyze these mechanical effects for lumbar belts, a specific lumbar orthotic.In relation with clinicians and manufacturer, three different approaches were developed. First, experimental approach permits to determine mechanical properties of lumbar belts and to evaluate applied pressure related to these mechanical properties. Second, applied pressure by lumbar belts was measured using a clinical approach. This pressure has been related to the decrease in pain, to the wellbeing felt, to the modification of posture and to the lumbar belts strain. Third, numerical approach was used to demonstrate the influential parameters on pain relief.One of mechanical effects of lumbar belts, highlighted in this project, is the pressure applied on the trunk which causes change in abdominal and intradiscal pressure and posture. The applied pressure depends on the mechanical properties of the belts. Results demonstrate the importance of mastering the applied pressure and the specificity of the patient on the mechanical effects of belts. The different approaches are complementary; they are orthotics characterization tools that could be used for others orthotics and also helps in the development of new products.La lombalgie est une douleur de la région lombaire du rachis. Un des moyens communément utilisés pour soulager cette douleur est le port d’orthèses lombaires. Bien que l’efficacité de ces orthèses soit démontrée, leur mode d’action reste mal connu. L’objectif de ce projet est d’analyser ce mode d’action dans le cas de ceintures de soutien lombaire.En lien avec des médecins et un industriel, trois approches ont été mises en œuvre. Premièrement, une approche expérimentale a permis de déterminer les propriétés mécaniques des ceintures de soutien lombaire et d’évaluer la pression appliquée suivant ces propriétés. Secondairement, la pression appliquée par les ceintures a été mesurée par une approche clinique. Cette pression a été liée à la diminution de la douleur engendrée par les ceintures, au bien-être ressenti, à la modification de la posture et à la déformation de la ceinture. Troisièmement, une approche numérique a servi à montrer les paramètres influents sur le soulagement de la douleur.Un des modes d’action des ceintures de soutien lombaire, mis en évidence dans ce projet, est la pression appliquée sur le tronc qui engendre une variation des pressions abdominale et intradiscale, ainsi qu’une modification de la posture. La pression appliquée dépend, entre autres, des caractéristiques mécaniques des ceintures. Les résultats mettent en évidence l’importance de maitriser cette pression appliquée ainsi que la spécificité du patient sur les effets mécaniques des ceintures.Les différentes approches sont complémentaires ; elles sont des moyens de caractérisation des orthèses qui pourraient être utilisés pour d’autres orthèses et également aider au développement de produits

Computational framework for identification of cancerous nodules in prostate based on instrumented palpation

The interplay between engineering and medical research plays a major role in advancing the healthcare technologies. Novel medical devices have been developed to improve the diagnosis and treatment plans for patients with pathological conditions such as prostate cancer (PCa). In this context, in silico modelling has been a valuable tool as it is complementary to traditional trial-and-error approaches, particularly in the area of nodule identification in soft tissue. The goal of this thesis is to develop a computational framework of detecting and characterizing the presence of PCa, based on instrumented probing. The proposed methodologies involve Finite-Element simulations, inverse analysis and probability-based methods, using models reconstructed from medical imaging and histological data. The proposed methods are later validated using experimental measurements from instrumented probing on ex-vivo prostates. It is expected that the in-silico framework can serve as a complementary tool to the medical devices and to improve the effectiveness of current methods for early PCa diagnosis.James-Watt ScholarshipHeriot-Watt University - Annual Fund Gran

Development of Ultrasonic Devices for Non-destructive Testing: Ultrasonic Vibro-tactile Sensor and FPGA-Based Research Platform

This thesis is focused on the development of ultrasonic devices for industrial non-destructive testing (NDT). Ultrasound is generated from mechanical vibrations and then propagates through the medium. Ultrasonic devices can make use of the ultrasound in both aspects, vibrations and propagations, to perform inspections of the objects. To this end, two devices were developed in this research, each pertaining to NDT of the objects. The first device is the vibro-tactile sensor which aims to estimate the elastic modules of soft materials with minimally invasive technique. Inspired by load sensitivity studies in the high-power ultrasonic applications, vibration characteristics in resonance were utilized to perform the inspection. Only a minimal force to ensure contact with the object surface needs to be applied for a vibro-tactile sensor to perform inspection of the object; hence, it can be used for in-vivo measurement of the soft materials’ elastic moduli without causing severe surface deformation. The design and analysis of the device were carried out using the electro-mechanical analogy to address the electro-mechanical nature of piezoelectric devices. The designed vibro-tactile sensor resonates at ~40 kHz and can be applied to differentiate the elastic modulus of isotropic soft samples with a range from 10 kPa to 70 kPa. The second device developed is a field-programmable development platform for ultrasonic pulse-echo testing. Ultrasonic testing, utilizing sound wave propagation, is a widely used technique in the industry. The commercially available equipment for industrial NDT is highly dependent on the competence of the inspector and rarely provides the access to raw data. For successful transition from traditional labor-intensive manufacturing to the next generation “smart factory” where intelligent machines replace human labor, inspection equipment with automated in-line data collection and processing capability is highly needed. To this end, a flexible platform which provides the access to raw data for algorithm development and implementation should be established. Therefore, an affordable, versatile, and researcher-friendly development platform based on field-programmable gate array (FPGA) was developed in the research. Both hardware and software development tools and procedures were discussed. In the lab experiment, the developed prototype exhibited its competence in NDT applications and successfully carried out hardware-based auto-detection algorithm for mm-level defects on steel and aluminum specimens. Comparisons with commercial systems were provided to guide future development

Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress

Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018