AUGMENTED REALITY AND INTRAOPERATIVE C-ARM CONE-BEAM COMPUTED TOMOGRAPHY FOR IMAGE-GUIDED ROBOTIC SURGERY

Minimally-invasive robotic-assisted surgery is a rapidly-growing alternative to traditionally open and laparoscopic procedures; nevertheless, challenges remain. Standard of care derives surgical strategies from preoperative volumetric data (i.e., computed tomography (CT) and magnetic resonance (MR) images) that benefit from the ability of multiple modalities to delineate different anatomical boundaries. However, preoperative images may not reflect a possibly highly deformed perioperative setup or intraoperative deformation. Additionally, in current clinical practice, the correspondence of preoperative plans to the surgical scene is conducted as a mental exercise; thus, the accuracy of this practice is highly dependent on the surgeon’s experience and therefore subject to inconsistencies. In order to address these fundamental limitations in minimally-invasive robotic surgery, this dissertation combines a high-end robotic C-arm imaging system and a modern robotic surgical platform as an integrated intraoperative image-guided system. We performed deformable registration of preoperative plans to a perioperative cone-beam computed tomography (CBCT), acquired after the patient is positioned for intervention. From the registered surgical plans, we overlaid critical information onto the primary intraoperative visual source, the robotic endoscope, by using augmented reality. Guidance afforded by this system not only uses augmented reality to fuse virtual medical information, but also provides tool localization and other dynamic intraoperative updated behavior in order to present enhanced depth feedback and information to the surgeon. These techniques in guided robotic surgery required a streamlined approach to creating intuitive and effective human-machine interferences, especially in visualization. Our software design principles create an inherently information-driven modular architecture incorporating robotics and intraoperative imaging through augmented reality. The system's performance is evaluated using phantoms and preclinical in-vivo experiments for multiple applications, including transoral robotic surgery, robot-assisted thoracic interventions, and cocheostomy for cochlear implantation. The resulting functionality, proposed architecture, and implemented methodologies can be further generalized to other C-arm-based image guidance for additional extensions in robotic surgery

Titania nanotube arrays as potential interfaces for neurological prostheses

2014 Summer.Includes bibliographical references.Neural prostheses can make a dramatic improvement for those suffering from visual and auditory, cognitive, and motor control disabilities, allowing them regained functionality by the use of stimulating or recording electrical signaling. However, the longevity of these devices is limited due to the neural tissue response to the implanted device. In response to the implant penetrating the blood brain barrier and causing trauma to the tissue, the body forms a to scar to isolate the implant in order to protect the nearby tissue. The scar tissue is a result of reactive gliosis and produces an insulated sheath, encapsulating the implant. The glial sheath limits the stimulating or recording capabilities of the implant, reducing its effectiveness over the long term. A favorable interaction with this tissue would be the direct adhesion of neurons onto the contacts of the implant, and the prevention of glial encapsulation. With direct neuronal adhesion the effectiveness and longevity of the device would be significantly improved. Titania nanotube arrays, fabricated using electrochemical anodization, provide a conductive architecture capable of altering cellular response. This work focuses on the fabrication of different titania nanotube array architectures to determine how their structures and properties influence the response of neural tissue, modeled using the C17.2 murine neural stem cell subclone, and if glial encapsulation can be reduced while neuronal adhesion is promoted

Physiology, Psychoacoustics and Cognition in Normal and Impaired Hearing

otorhinolaryngology; neurosciences; hearin

Physiology, Psychoacoustics and Cognition in Normal and Impaired Hearing

​The International Symposium on Hearing is a prestigious, triennial gathering where world-class scientists present and discuss the most recent advances in the field of human and animal hearing research. The 2015 edition will particularly focus on integrative approaches linking physiological, psychophysical and cognitive aspects of normal and impaired hearing. Like previous editions, the proceedings will contain about 50 chapters ranging from basic to applied research, and of interest to neuroscientists, psychologists, audiologists, engineers, otolaryngologists, and artificial intelligence researchers.