A Testbed for Design and Performance Evaluation of Visual Localization Technique inside the Small Intestine

Wireless video capsule endoscopy (VCE) plays an increasingly important role in assisting clinical diagnoses of gastrointestinal (GI) diseases. It provides a non-invasive way to examine the entire small intestine, where other conventional endoscopic instruments can barely reach. Existing examination systems for the VCE cannot track the location of a endoscopic capsule, which prevents the physician from identifying the exact location of the diseases. During the eight hour examination time, the video capsule continuously keeps taking images at a frame rate up to six frame per sec, so it is possible to extract the motion information from the content of the image sequence. Many attempts have been made to develop computer vision algorithms to detect the motion of the capsule based on the small changes in the consecutive video frames and then trace the location of the capsule. However, validation of those algorithms has become a challenging topic because conducting experiments on the human body is extremely difficult due to individual differences and legal issues. In this thesis, two validation approaches for motion tracking of the VCE are presented in detail respectively. One approach is to build a physical testbed with a plastic pipe and an endoscopy camera; the other is to build a virtual testbed by creating a three-dimensional virtual small intestine model and simulating the motion of the capsule. Based on the virtual testbed, a physiological factor, intestinal contraction, has been studied in terms of its influence on visual based localization algorithm and a geometric model for measuring the amount of contraction is proposed and validated via the virtual testbed. Empirical results have made contributions in support of the performance evaluation of other research on the visual based localization algorithm of VCE

A Magnetic Localization Technique Designed for use with Magnetic Levitation Systems.

M.S. Thesis. University of Hawaiʻi at Mānoa 2017

Machine learning based small bowel video capsule endoscopy analysis: Challenges and opportunities

YesVideo capsule endoscopy (VCE) is a revolutionary technology for the early diagnosis of gastric disorders. However, owing to the high redundancy and subtle manifestation of anomalies among thousands of frames, the manual construal of VCE videos requires considerable patience, focus, and time. The automatic analysis of these videos using computational methods is a challenge as the capsule is untamed in motion and captures frames inaptly. Several machine learning (ML) methods, including recent deep convolutional neural networks approaches, have been adopted after evaluating their potential of improving the VCE analysis. However, the clinical impact of these methods is yet to be investigated. This survey aimed to highlight the gaps between existing ML-based research methodologies and clinically significant rules recently established by gastroenterologists based on VCE. A framework for interpreting raw frames into contextually relevant frame-level findings and subsequently merging these findings with meta-data to obtain a disease-level diagnosis was formulated. Frame-level findings can be more intelligible for discriminative learning when organized in a taxonomical hierarchy. The proposed taxonomical hierarchy, which is formulated based on pathological and visual similarities, may yield better classification metrics by setting inference classes at a higher level than training classes. Mapping from the frame level to the disease level was structured in the form of a graph based on clinical relevance inspired by the recent international consensus developed by domain experts. Furthermore, existing methods for VCE summarization, classification, segmentation, detection, and localization were critically evaluated and compared based on aspects deemed significant by clinicians. Numerous studies pertain to single anomaly detection instead of a pragmatic approach in a clinical setting. The challenges and opportunities associated with VCE analysis were delineated. A focus on maximizing the discriminative power of features corresponding to various subtle lesions and anomalies may help cope with the diverse and mimicking nature of different VCE frames. Large multicenter datasets must be created to cope with data sparsity, bias, and class imbalance. Explainability, reliability, traceability, and transparency are important for an ML-based diagnostics system in a VCE. Existing ethical and legal bindings narrow the scope of possibilities where ML can potentially be leveraged in healthcare. Despite these limitations, ML based video capsule endoscopy will revolutionize clinical practice, aiding clinicians in rapid and accurate diagnosis

MEMS Technology for Biomedical Imaging Applications

Biomedical imaging is the key technique and process to create informative images of the human body or other organic structures for clinical purposes or medical science. Micro-electro-mechanical systems (MEMS) technology has demonstrated enormous potential in biomedical imaging applications due to its outstanding advantages of, for instance, miniaturization, high speed, higher resolution, and convenience of batch fabrication. There are many advancements and breakthroughs developing in the academic community, and there are a few challenges raised accordingly upon the designs, structures, fabrication, integration, and applications of MEMS for all kinds of biomedical imaging. This Special Issue aims to collate and showcase research papers, short commutations, perspectives, and insightful review articles from esteemed colleagues that demonstrate: (1) original works on the topic of MEMS components or devices based on various kinds of mechanisms for biomedical imaging; and (2) new developments and potentials of applying MEMS technology of any kind in biomedical imaging. The objective of this special session is to provide insightful information regarding the technological advancements for the researchers in the community

Development of a magnetic intra-uterine manipulator

Thesis (MScEng)--Stellenbosch University, 2012.ENGLISH ABSTRACT: Uterine manipulation is integral to obtaining adequate access to the uterus during a laparoscopic procedure. A variety of mechanical manipulators have been developed to aid the surgeon with the dissection of the uterus during laparoscopic hysterectomies. Limitations of existing manipulators are that they require an additional assistant during surgery, are expensive and may cause tissue trauma to the vaginal or cervical canal. This study introduces the novel concept of a magnetic uterine manipulator, intended to overcome existing devices’ shortcomings and enabling non-invasive uterine manipulation. The first goal of the study was to investigate the strengths and weaknesses of existing mechanical manipulators and compare them to those of a magnetic device. Analysis showed that a magnetic manipulator would not be able to compete in terms of the range of motion of existing devices. A limited anteriorsagittal rotation range of 60 was seen in the magnetic manipulator compared to a range of 140 in mechanical devices. However, the magnetic manipulator could eliminate the need for an extra assistant, is reusable and thus also more economical. The second goal was to investigate which type of setup would be most successful at effective uterine manipulation. Through concept analysis a cart-on-arch system was deemed most effective. To lift an effective load of 1 N over an air-gap of 150 mm rare-earth N38 Neodymium (NdFeBr) magnets showed the most promise as magnetic actuators. FEA (Finite Element Analysis) simulations of the magnetic setup were validated experimentally which produced an acceptable MAE (mean absolute error) of 0.15 N. Furthermore, a comparative simulation study of shielded and unshielded magnets was done which concluded that shielded magnets produce a slightly higher attraction force and would be safer to use due to less magnetic flux fringing. Thirdly and lastly, potential safety hazards and risks of using magnetic actuators in surgical environments were identified. The literature research revealed that connections between magnetic fields and health risks to patients have not been conclusively proven in clinical studies to date, but nonetheless, great care should be taken in situations where the patient has a pace-maker or orthopaedic implants, as these might interact with the magnetic field. Recommendations for future work include further research into the geometry and scaling effects of magnetic shielding as well as electromagnetic actuator design. Electromagnetic actuators could replace rare-earth magnets, if coil and cooling systems are optimized, resulting in magnets that can be reversed or switched off and which are therefore easier to control and safer to handle.AFRIKAANSE OPSOMMING: Ontwikkeling van ’n Magnetiese Intra-Uteriene Manipuleerder Baarmoedermanipulasie is van uiterste belang om sodoende voldoende toegang te kry tot die baarmoeder gedurende ’n laparoskopiese prosedure. Daar is reeds ’n verskeidenheid meganiese manipuleerders ontwikkel as hulpmiddel vir die chirurg in die ontleding van die uterus tydens laparoskopiese histerektomies. Beperkings van bestaande manipuleerders is dat ’n bykomende assistent tydens chirurgie benodig word. Die manipuleerders is ook duur en kan weefseltrauma veroorsaak aan die vaginale of servikale kanale. Die studie stel ’n nuwe konsep bekend: ’n magnetiese baarmoedermanipuleerder, gemik daarop om bestaande toestelle se tekortkominge te oorkom en nie-indringende baarmoedermanipulasie moontlik te maak. Die eerste doel van die studie was om die voordele en nadele van bestaande meganiese manipuleerders te ondersoek en dit te vergelyk met dié van die magnetiese toestel. Analise het getoon dat ’n magnetiese manipuleerder nie met bestaande toestelle sal kan kompeteer waar dit gaan om beweegruimte nie. Daar is ’n beperkte anterior-sagitale rotasiespeling van 60 in die magnetiese manipuleerder, terwyl die meganiese toestel ’n rotasiespeling van 140 het. Die magnetiese manipuleerder kan egter die nodigheid van ’n bykomende assistant uitskakel, is herbruikbaar en dus ook meer ekonomies. Die tweede doel van die studie was om die tipe opstelling wat meer suksesvol sal wees tydens doeltreffende baarmoeder manipulasie te ondersoek. Konsep-analise het getoon dat ’n "cart-on-arch"stelsel die beste sal werk. N38 Neodimium (NdFeBr) magnete het die beste vertoon as magnetiese aandrywer om ’n werklike belasting van 1 N oor ’n lugspasie van 150 mm te lig. EEA (Eindige Element Analise) simulasies van die magnetiese opstelling is eksperimenteel bekragtig en het ’n aanvaarbare gemene absolute fout (GAF) van 0.15 N gelewer. ’n Vergelykende simulasie studie het verder gewys dat beskutte magnete ’n effens hoër aantrekkingskrag oplewer en sal dus veiliger wees om te gebruik vanweë die verminderde magnetiese stromingsrand. Derdens en laastens is potensiële veiligheidsrisikos en gevare in die gebruik van magnetiese drywers in chirurgiese omgewings geïdentifiseer. Literatuurnavorsing het onthul dat die verband tussen magneetvelde en gesondheidsrisikos aan pasiënte nog nie voldoende bewys is in kliniese studies tot op datum nie. Gevalle waar pasiënte ’n pasaangeër of ortopediese inplantings het moet met groot sorg hanteer word aangesien dit dalk kan reageer met die magneetvelde. Aanbevelings vir toekomstige werk sluit verdere navorsing in in die rigting van die geometrie en die afskilferingseffek van magnetiese beskutting en ook elektromagnetiese drywer ontwerp. Elektromagnetiese drywers kan moontlik rou aarde magnete vervang indien winding en afkoelstelsels ge-optimeer word wat kan lei tot magnete wat omgekeer of afgeskakel kan word en dus makliker beheerbaar is en veiliger om te hanteer

VLSI Design

This book provides some recent advances in design nanometer VLSI chips. The selected topics try to present some open problems and challenges with important topics ranging from design tools, new post-silicon devices, GPU-based parallel computing, emerging 3D integration, and antenna design. The book consists of two parts, with chapters such as: VLSI design for multi-sensor smart systems on a chip, Three-dimensional integrated circuits design for thousand-core processors, Parallel symbolic analysis of large analog circuits on GPU platforms, Algorithms for CAD tools VLSI design, A multilevel memetic algorithm for large SAT-encoded problems, etc

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not