Design and Modeling of a Polymer Force Sensor

This article presents the design, modeling, force correction strategies and experimental validation of a force sensor designed for robotized medical applications. The proposed sensor offers a new solution for force measurement in the presence of specific constraints such as medical imaging transparency, limited size, satisfactory rigidity and measurement performance. More specifically, the presented prototype has been purposely adapted to comply with the requirements of needle insertion applications, in the context of interventional radiology. A systematic viscoelastic model identification method is discussed for choosing the best time-dependent model for the force sensor. A novel compensation law is proposed based on the chosen model to correct for the viscoelastic effects of the utilized polymer material. The developed compensation law is inexpensive, stable to noise and can be applied in real-time to the sensor signal. A comparative assessment of the experimental results, obtained from quasi-static to dynamic experiments including harmonic analysis, shows the efficacy of the proposed compensation law, as compared to calibration with static gain and without compensation. The improvement in the sensor response results in decreased hysteresis levels and increased bandwidth, which are improved by more than a factor of 4

Planning for steerable needles in neurosurgery

The increasing adoption of robotic-assisted surgery has opened up the possibility to control innovative dexterous tools to improve patient outcomes in a minimally invasive way. Steerable needles belong to this category, and their potential has been recognised in various surgical fields, including neurosurgery. However, planning for steerable catheters' insertions might appear counterintuitive even for expert clinicians. Strategies and tools to aid the surgeon in selecting a feasible trajectory to follow and methods to assist them intra-operatively during the insertion process are currently of great interest as they could accelerate steerable needles' translation from research to practical use. However, existing computer-assisted planning (CAP) algorithms are often limited in their ability to meet both operational and kinematic constraints in the context of precise neurosurgery, due to its demanding surgical conditions and highly complex environment. The research contributions in this thesis relate to understanding the existing gap in planning curved insertions for steerable needles and implementing intelligent CAP techniques to use in the context of neurosurgery. Among this thesis contributions showcase (i) the development of a pre-operative CAP for precise neurosurgery applications able to generate optimised paths at a safe distance from brain sensitive structures while meeting steerable needles kinematic constraints; (ii) the development of an intra-operative CAP able to adjust the current insertion path with high stability while compensating for online tissue deformation; (iii) the integration of both methods into a commercial user front-end interface (NeuroInspire, Renishaw plc.) tested during a series of user-controlled needle steering animal trials, demonstrating successful targeting performances. (iv) investigating the use of steerable needles in the context of laser interstitial thermal therapy (LiTT) for maesial temporal lobe epilepsy patients and proposing the first LiTT CAP for steerable needles within this context. The thesis concludes with a discussion of these contributions and suggestions for future work.Open Acces

Snake Robots for Surgical Applications: A Review

Although substantial advancements have been achieved in robot-assisted surgery, the blueprint to existing snake robotics predominantly focuses on the preliminary structural design, control, and human–robot interfaces, with features which have not been particularly explored in the literature. This paper aims to conduct a review of planning and operation concepts of hyper-redundant serpentine robots for surgical use, as well as any future challenges and solutions for better manipulation. Current researchers in the field of the manufacture and navigation of snake robots have faced issues, such as a low dexterity of the end-effectors around delicate organs, state estimation and the lack of depth perception on two-dimensional screens. A wide range of robots have been analysed, such as the i2Snake robot, inspiring the use of force and position feedback, visual servoing and augmented reality (AR). We present the types of actuation methods, robot kinematics, dynamics, sensing, and prospects of AR integration in snake robots, whilst addressing their shortcomings to facilitate the surgeon’s task. For a smoother gait control, validation and optimization algorithms such as deep learning databases are examined to mitigate redundancy in module linkage backlash and accidental self-collision. In essence, we aim to provide an outlook on robot configurations during motion by enhancing their material compositions within anatomical biocompatibility standards

Predicting Rules for Cancer Subtype Classification using Grammar-Based Genetic Programming on various Genomic Data Types

With the advent of high-throughput methods more genomic data then ever has been generated during the past decade. As these technologies remain cost intensive and not worthwhile for every research group, databases, such as the TCGA and Firebrowse, emerged. While these database enable the fast and free access to massive amounts of genomic data, they also embody new challenges to the research community. This study investigates methods to obtain, normalize and process genomic data for computer aided decision making in the field of cancer subtype discovery. A new software, termed FirebrowseR is introduced, allowing the direct download of genomic data sets into the R programming environment. To pre-process the obtained data, a set of methods is introduced, enabling data type specific normalization. As a proof of principle, the Web-TCGA software is created, enabling fast data analysis. To explore cancer subtypes a statistical model, the EDL, is introduced. The newly developed method is designed to provide highly precise, yet interpretable models. The EDL is tested on well established data sets, while its performance is compared to state of the art machine learning algorithms. As a proof of principle, the EDL was run on a cohort of 1,000 breast cancer patients, where it reliably re-identified the known subtypes and automatically selected the corresponding maker genes, by which the subtypes are defined. In addition, novel patterns of alterations in well known maker genes could be identified to distinguish primary and mCRPC samples. The findings suggest that mCRPC is characterized through a unique amplification of the Androgen Receptor, while a significant fraction of primary samples is described by a loss of heterozygosity TP53 and NCOR1

Growth and Scaling during Development and Regeneration

Life presents fascinating examples of self-organization and emergent phenomena. In multi-cellular organisms, a multitude of cells interact to form and maintain highly complex body plans of well-defined size. In this thesis, we investigate theoretical feedback mechanisms for both self-organized body plan patterning and size control. The thesis is inspired by the astonishing scaling and regeneration abilities of flatworms. These worms can perfectly regrow their entire body plan even from tiny amputation fragments like the tip of the tail. Moreover, they can grow and actively de-grow by more than a factor of 40 in length depending on feeding conditions. These capabilities prompt for remarkable physical mechanisms of self-organized pattern formation and scaling. First, we explore the basic principles and challenges of pattern scaling in mechanisms previously proposed to describe biological pattern formation. Next, we present a novel class of patterning mechanisms yielding entirely self-organized and self-scaling patterns. This framework captures essential features of body plan regeneration and scaling in flatworms. Further, we analyze shape and motility of flatworms. By applying principal component analysis, we characterize shape dynamics during different motility modes and also identify shape variations between different flatworm species. Finally, we investigate the metabolic control of cell turnover and growth. We identify three mechanisms of metabolic energy storage; theoretical descriptions thereof can explain the measured organism growth by rules on the cellular scale. In a close collaboration with experimental biologists, we combine minimal theoretical descriptions with state-of-the-art experiments and data analysis. This allows us to identify generic principles of scalable body plan patterning and growth control in flatworms.Comment: PhD thesis, TU Dresden, German

Registration of magnetic resonance and ultrasound images for guiding prostate cancer interventions

Prostate cancer is a major international health problem with a large and rising incidence in many parts of the world. Transrectal ultrasound (TRUS) imaging is used routinely to guide surgical procedures, such as needle biopsy and a number of minimally-invasive therapies, but its limited ability to visualise prostate cancer is widely recognised. Magnetic resonance (MR) imaging techniques, on the other hand, have recently been developed that can provide clinically useful diagnostic information. Registration (or alignment) of MR and TRUS images during TRUS-guided surgical interventions potentially provides a cost-effective approach to augment TRUS images with clinically useful, MR-derived information (for example, tumour location, shape and size). This thesis describes a deformable image registration framework that enables automatic and/or semi-automatic alignment of MR and 3D TRUS images of the prostate gland. The method combines two technical developments in the field: First, a method for constructing patient-specific statistical shape models of prostate motion/deformation, based on learning from finite element simulations of gland motion using geometric data from a preoperative MR image, is proposed. Second, a novel “model-to-image” registration framework is developed to register this statistical shape model automatically to an intraoperative TRUS image. This registration approach is implemented using a novel model-to-image vector alignment (MIVA) algorithm, which maximises the likelihood of a particular instance of a statistical shape model given a voxel-intensity-based feature vector that represents an estimate of the surface normal vectors at the boundary of the organ in question. Using real patient data, the MR-TRUS registration accuracy of the new algorithm is validated using intra-prostatic anatomical landmarks. A rigorous and extensive validation analysis is also provided for assessing the image registration experiments. The final target registration error after performing 100 MR–TRUS registrations for each patient have a median of 2.40 mm, meaning that over 93% registrations may successfully hit the target representing a clinically significant lesion. The implemented registration algorithms took less than 30 seconds and 2 minutes for manually defined point- and normal vector features, respectively. The thesis concludes with a summary of potential applications and future research directions

International RILEM Conference on Materials, Systems and Structures in Civil Engineering Conference segment on Service Life of Cement-Based Materials and Structures

Vol. 2O volume I encontra-se disponível em: http://hdl.handle.net/1822/4341

Proceedings of the International RILEM Conference Materials, Systems and Structures in Civil Engineering segment on Service Life of Cement-Based Materials and Structures

Vol. 1O volume II encontra-se disponível em: http://hdl.handle.net/1822/4390