Evaluation of Autonomous Robotic Milling Methodology for Natural Tooth-Shaped Implants Based on SKO Optimization

Robotic surgery is one of the most demanding and challenging applications in the field of automatic control. One of the conventional surgeries, the dental implantation, is the standard methodology to place the artificial tooth root composed of titanium material into the upper or lower jawbone. During the dental implant surgery, mechanical removal of the bone material is the most critical procedure because it may affect the patient\u27s safety including damage to the mandibular canal nerve and/or piercing the maxillary sinus. With this problem, even though short term survival rates are greater than 95%, long term success rate of the surgery is as low as 41.9% in 5 years. Since criteria of bone loss should be less than 0.2 mm per year, a high degree of anatomical accuracy is required. Considering the above issues leads to the employment of more precise surgery using computer assisted medical robots. In this dissertation, a computer-aided open-loop intra-operative robotic system with pre-operative planning is presented to improve the success rate of the dental implantation using different types of milling algorithms that also incorporate natural root-shaped implants. This dissertation also presents the refinement and optimization of three-dimensional (3D) dental implants with the complex root shapes of natural teeth. These root shapes are too complex to be drilled manually like current commercial implants and are designed to be conducive to robotic drilling utilizing milling algorithms. Due to the existence of sharp curvatures and undercuts, anatomically correct models must be refined for 3D robotic milling, and these refined shapes must be shown to be optimized for load bearing. Refinement of the anatomically correct natural tooth-shaped models for robotic milling was accomplished using Computer-Aided-Design (CAD) tools for smoothing the sham curvatures and undercuts. The load bearing optimization algorithm is based on the Soft-Kill Option (SKO) method, and the geometries are represented using non-uniform rational B-spline (NURBS) curves and surfaces. Based on these methods, we present optimized single and double root-shaped dental implants for use with robotic site preparation. Evaluation of phantom experiment has led us to investigate how the position, orientation, and depth of the robotic drilling defined with the dental tool exhibit accuracy and efficiency

Optimization and validation of a new 3D-US imaging robot to detect, localize and quantify lower limb arterial stenoses

L’athérosclérose est une maladie qui cause, par l’accumulation de plaques lipidiques, le durcissement de la paroi des artères et le rétrécissement de la lumière. Ces lésions sont généralement localisées sur les segments artériels coronariens, carotidiens, aortiques, rénaux, digestifs et périphériques. En ce qui concerne l’atteinte périphérique, celle des membres inférieurs est particulièrement fréquente. En effet, la sévérité de ces lésions artérielles est souvent évaluée par le degré d’une sténose (réduction >50 % du diamètre de la lumière) en angiographie, imagerie par résonnance magnétique (IRM), tomodensitométrie ou échographie. Cependant, pour planifier une intervention chirurgicale, une représentation géométrique artérielle 3D est notamment préférable. Les méthodes d’imagerie par coupe (IRM et tomodensitométrie) sont très performantes pour générer une imagerie tridimensionnelle de bonne qualité mais leurs utilisations sont dispendieuses et invasives pour les patients. L’échographie 3D peut constituer une avenue très prometteuse en imagerie pour la localisation et la quantification des sténoses. Cette modalité d’imagerie offre des avantages distincts tels la commodité, des coûts peu élevés pour un diagnostic non invasif (sans irradiation ni agent de contraste néphrotoxique) et aussi l’option d’analyse en Doppler pour quantifier le flux sanguin. Étant donné que les robots médicaux ont déjà été utilisés avec succès en chirurgie et en orthopédie, notre équipe a conçu un nouveau système robotique d’échographie 3D pour détecter et quantifier les sténoses des membres inférieurs. Avec cette nouvelle technologie, un radiologue fait l’apprentissage manuel au robot d’un balayage échographique du vaisseau concerné. Par la suite, le robot répète à très haute précision la trajectoire apprise, contrôle simultanément le processus d’acquisition d’images échographiques à un pas d’échantillonnage constant et conserve de façon sécuritaire la force appliquée par la sonde sur la peau du patient. Par conséquent, la reconstruction d’une géométrie artérielle 3D des membres inférieurs à partir de ce système pourrait permettre une localisation et une quantification des sténoses à très grande fiabilité. L’objectif de ce projet de recherche consistait donc à valider et optimiser ce système robotisé d’imagerie échographique 3D. La fiabilité d’une géométrie reconstruite en 3D à partir d’un système référentiel robotique dépend beaucoup de la précision du positionnement et de la procédure de calibration. De ce fait, la précision pour le positionnement du bras robotique fut évaluée à travers son espace de travail avec un fantôme spécialement conçu pour simuler la configuration des artères des membres inférieurs (article 1 - chapitre 3). De plus, un fantôme de fils croisés en forme de Z a été conçu pour assurer une calibration précise du système robotique (article 2 - chapitre 4). Ces méthodes optimales ont été utilisées pour valider le système pour l’application clinique et trouver la transformation qui convertit les coordonnées de l’image échographique 2D dans le référentiel cartésien du bras robotisé. À partir de ces résultats, tout objet balayé par le système robotique peut être caractérisé pour une reconstruction 3D adéquate. Des fantômes vasculaires compatibles avec plusieurs modalités d’imagerie ont été utilisés pour simuler différentes représentations artérielles des membres inférieurs (article 2 - chapitre 4, article 3 - chapitre 5). La validation des géométries reconstruites a été effectuée à l`aide d`analyses comparatives. La précision pour localiser et quantifier les sténoses avec ce système robotisé d’imagerie échographique 3D a aussi été déterminée. Ces évaluations ont été réalisées in vivo pour percevoir le potentiel de l’utilisation d’un tel système en clinique (article 3- chapitre 5).Atherosclerosis is a disease caused by the accumulation of lipid deposits inducing the remodeling and hardening of the vessel wall, which leads to a progressive narrowing of arteries. These lesions are generally located on the coronary, carotid, aortic, renal, digestive and peripheral arteries. With regards to peripheral vessels, lower limb arteries are frequently affected. The severity of arterial lesions are evaluated by the stenosis degree (reduction > 50.0 % of the lumen diameter) using angiography, magnetic resonance angiography (MRA), computed tomography (CT) and ultrasound (US). However, to plan a surgical therapeutic intervention, a 3D arterial geometric representation is notably preferable. Imaging methods such as MRA and CT are very efficient to generate a three-dimensional imaging of good quality even though their use is expensive and invasive for patients. 3D-ultrasound can be perceived as a promising avenue in imaging for the location and the quantification of stenoses. This non invasive, non allergic (i.e, nephrotoxic contrast agent) and non-radioactive imaging modality offers distinct advantages in convenience, low cost and also multiple diagnostic options to quantify blood flow in Doppler. Since medical robots already have been used with success in surgery and orthopedics, our team has conceived a new medical 3D-US robotic imaging system to localize and quantify arterial stenoses in lower limb vessels. With this new technology, a clinician manually teaches the robotic arm the scanning path. Then, the robotic arm repeats with high precision the taught trajectory and controls simultaneously the ultrasound image acquisition process at even sampling and preserves safely the force applied by the US probe. Consequently, the reconstruction of a lower limb arterial geometry in 3D with this system could allow the location and quantification of stenoses with high accuracy. The objective of this research project consisted in validating and optimizing this 3D-ultrasound imaging robotic system. The reliability of a 3D reconstructed geometry obtained with 2D-US images captured with a robotic system depends considerably on the positioning accuracy and the calibration procedure. Thus, the positioning accuracy of the robotic arm was evaluated in the workspace with a lower limb-mimicking phantom design (article 1 - chapter 3). In addition, a Z-phantom was designed to assure a precise calibration of the robotic system. These optimal methods were used to validate the system for the clinical application and to find the transformation which converts image coordinates of a 2D-ultrasound image into the robotic arm referential. From these results, all objects scanned by the robotic system can be adequately reconstructed in 3D. Multimodal imaging vascular phantoms of lower limb arteries were used to evaluate the accuracy of the 3D representations (article 2 - chapter 4, article 3 - chapter 5). The validation of the reconstructed geometry with this system was performed by comparing surface points with the manufacturing vascular phantom file surface points. The accuracy to localize and quantify stenoses with the 3D-ultrasound robotic imaging system was also determined. These same evaluations were analyzed in vivo to perceive the feasibility of the study

Concept and Design of a Hand-held Mobile Robot System for Craniotomy

This work demonstrates a highly intuitive robot for Surgical Craniotomy Procedures. Utilising a wheeled hand-held robot, to navigate the Craniotomy Drill over a patient\u27s skull, the system does not remove the surgeons from the procedure, but supports them during this critical phase of the operation

Advances in Robot Kinematics : Proceedings of the 15th international conference on Advances in Robot Kinematics

International audienceThe motion of mechanisms, kinematics, is one of the most fundamental aspect of robot design, analysis and control but is also relevant to other scientific domains such as biome- chanics, molecular biology, . . . . The series of books on Advances in Robot Kinematics (ARK) report the latest achievement in this field. ARK has a long history as the first book was published in 1991 and since then new issues have been published every 2 years. Each book is the follow-up of a single-track symposium in which the participants exchange their results and opinions in a meeting that bring together the best of world’s researchers and scientists together with young students. Since 1992 the ARK symposia have come under the patronage of the International Federation for the Promotion of Machine Science-IFToMM.This book is the 13th in the series and is the result of peer-review process intended to select the newest and most original achievements in this field. For the first time the articles of this symposium will be published in a green open-access archive to favor free dissemination of the results. However the book will also be o↵ered as a on-demand printed book.The papers proposed in this book show that robot kinematics is an exciting domain with an immense number of research challenges that go well beyond the field of robotics.The last symposium related with this book was organized by the French National Re- search Institute in Computer Science and Control Theory (INRIA) in Grasse, France

Concept and Design of a Hand-held Mobile Robot System for Craniotomy

This work demonstrates a highly intuitive robot for Surgical Craniotomy Procedures. Utilising a wheeled hand-held robot, to navigate the Craniotomy Drill over a patient\u27s skull, the system does not remove the surgeons from the procedure, but supports them during this critical phase of the operation

Model-free Optimization of Trajectory And Impedance Parameters on Exercise Robots With Applications To Human Performance And Rehabilitation

This dissertation focuses on the study and optimization of human training and its physiological effects through the use of advanced exercise machines (AEMs). These machines provide an invaluable contribution to advanced training by combining exercise physiology with technology. Unlike conventional exercise machines (CEMs), AEMs provide controllable trajectories and impedances by using electric motors and control systems. Therefore, they can produce various patterns even in the absence of gravity. Moreover, the ability of the AEMs to target multiple physiological systems makes them the best available option to improve human performance and rehabilitation. During the early stage of the research, the physiological effects produced under training by the manual regulation of the trajectory and impedance parameters of the AEMs were studied. Human dynamics appear as not only complex but also unique and time-varying due to the particular features of each person such as its musculoskeletal distribution, level of fatigue,fitness condition, hydration, etc. However, the possibility of the optimization of the AEM training parameters by using physiological effects was likely, thus the optimization objective started to be formulated. Some previous research suggests that a model-based optimization of advanced training is complicated for real-time environments as a consequence of the high level of v complexity, computational cost, and especially the many unidentifiable parameters. Moreover, a model-based method differs from person to person and it would require periodic updates based on physical and psychological variations in the user. Consequently, we aimed to develop a model-free optimization framework based on the use of Extremum Seeking Control (ESC). ESC is a non-model based controller for real-time optimization which its main advantage over similar controllers is its ability to deal with unknown plants. This framework uses a physiological effect of training as bio-feedback. Three different frameworks were performed for single-variable and multi-variable optimization of trajectory and impedance parameters. Based on the framework, the objective is achieved by seeking the optimal trajectory and/or impedance parameters associated with the orientation of the ellipsoidal path to be tracked by the user and the stiffness property of the resistance by using weighted measures of muscle activations

Functional characterization of the Saccharomyces cerevisiae chromatin remodeler INO80

Knowing the explicit locations of nucleosomes in a genome is a pre-requisite for understanding the regulation of genes. Predominantly at regulatory active promoter sites, regular spaced arrays phased at reference points shape the chromatin landscape. In eukaryotic cells ATP-dependent chromatin remodeler align nucleosomes at reference points and are pivotal in the formation of the stereotyped promoter pattern. Chromatin remodeler of the ISWI, CHD, SWI/SNF and INO80 family convert energy derived from ATP hydrolysis to operate on their nucleosomal substrates to accomplish nucleosome spacing, eviction and editing reactions. Recent structural elucidations provided mechanistic insights into how chromatin remodelers engage their nucleosomal substrates (Eustermann et al., 2018, Aramayo et al., 2018, Willhoft et al., 2018, Ayala et al., 2018, Farnung et al., 2017, Wagner et al., 2020, Yan et al., 2019, He et al., 2020, Han et al., 2020) and brought about a unifying DNA wave mechanism underpinning ATP-dependent DNA translocation by chromatin remodeling complexes (Yan and Chen, 2020). Understanding how phased arrays of equally spaced nucleosomes are generated by chromatin remodelers represents an ultimate long-term goal in chromatin biology. What remains unclear is the underlying mechanism that directs nucleosome positioning by chromatin remodelers in absolute terms. How do ATP-dependent chromatin remodelers generate phased arrays of regularly spaced nucleosomes? How are the distances between nucleosomes and phasing sites and between adjacent nucleosomes set? Is DNA shape read-out part of nucleosome positioning driven by chromatin remodelers? Do remodelers have intrinsic ruler-like elements that set spacing and phasing distances? The aim of this thesis was to delineate whether, and if so, what type of genomic information is read by a remodeler in the stereotypic placement of nucleosomes at physiological sites, and how the remodeler activities fit into the unifying framework of ATP-dependent DNA translocation mechanism of chromatin remodelers. To gain an insight into nucleosome positioning driven by Saccharomyces cerevisiae (S.c.) ATP-dependent chromatin remodelers, a combination of a minimalistic genome-wide in vitro reconstitution system, biochemical analysis, high-resolution structures and structure-guided mutagenesis of the S.c. INO80 model system was applied. Findings of this work would have an impact on the mechanistic understanding of nucleosome positioning driven by ATP dependent chromatin remodelers based on the ruler concept that has been described earlier for the ISW1a chromatin remodeler (Yamada et al., 2011). The ISW1a, Chd1 and ISW2 remodelers demonstrated “clamping” activity and used ruler elements to set 1 Abstract distances with a defined linker length (21-26 bp at all densities, 12-13bp at all densities, 54-58 bp at low/medium densities, respectively). Mutagenesis of the INO80 model system identified and tuned the INO80 ruler element, which is comprised of the Ino80_HSA domain of the ARP module, the NHP10 module and Ino80 N-terminal residues. Regularly spaced symmetrical arrays were generated at the Reb1 reference point sites as well as at BamHI-introduced dsDNA break sites. Nucleosome positioning on the genomic sequences of S. c., Schizosaccharomyces pombe (S.p.) as well as Escherichia coli (E.coli) showed no significant differences. Mutagenesis of residues located within the Ino80_HSA domain established a causal link between nucleosome positioning by INO80 and DNA shape read-out by the INO80_HSA domain. The spacing and phasing distances generated by ATP-dependent chromatin remodelers point towards a remodeler-intrinsic ruler activity that is independent of underlying DNA sequences and can be sensitive to nucleosome density. This study measured linker lengths set by remodeler-intrinsic ruler-like functionalities in absolute terms, which will be instrumental to dissect contributions from individual remodelers in nucleosome positioning in vivo. This provides the starting point to understand how remodeler-driven nucleosome dynamics direct stable steady-state nucleosome positions relative to DNA bound factors, DNA ends and DNA sequence elements. Sequence-dependent DNA shape features have been mainly associated with binding of transcription factors as well as general regulatory factors and more static DNA binding events. This study augments the general description of nucleosome positioning sequences for chromatin remodelers by establishing nucleosome positioning motifs based on DNA shape analysis. This study provides an intriguing framework to implement DNA shape read-out in the tracking mechanism of DNA-translocating machineries

Technology 2000, volume 1

The purpose of the conference was to increase awareness of existing NASA developed technologies that are available for immediate use in the development of new products and processes, and to lay the groundwork for the effective utilization of emerging technologies. There were sessions on the following: Computer technology and software engineering; Human factors engineering and life sciences; Information and data management; Material sciences; Manufacturing and fabrication technology; Power, energy, and control systems; Robotics; Sensors and measurement technology; Artificial intelligence; Environmental technology; Optics and communications; and Superconductivity

On sensorimotor function and the relationship between proprioception and motor learning

Research continues to explore the mechanisms that mediate successful motor control. Behaviourally-relevant modulation of muscle commands is dependent on sensory signals. Proprioception -- the sense of body position -- is one signal likely to be crucial for motor learning. The present thesis explores the relationship between human proprioception and motor learning. First we investigated changes to sensory function during the adaptation of arm movements to novel forces. Subjects adapted movements in the presence of directional loads over the course of learning. Psychophysical estimates of perceived hand position showed that motor learning resulted in sensed hand position becoming \emph{biased} in the direction of the experienced load. This biasing of perception occurred for four different perturbation directions and remained even after washout movements. Therefore, motor learning can result in systematic changes to proprioceptive function. In a second experiment we investigated proprioceptive changes after subjects learned highly accurate movements to targets. Subjects demonstrated improved acuity of the hand\u27s position following this type of motor learning. Interestingly, improved acuity did not generalize to the entire workspace but was instead restricted to local positions within the region of the workspace where motor learning occurred. These results provide evidence that altered sensory function from motor learning may also include sensory acuity improvements. Subsequently the duration of acuity improvements was assessed. Improved acuity of hand position was observed immediately after motor learning and 24h later, but was not reliably different from baseline at 1h or 4h. Persistent sensory change may thus be similar to retention of motor learning and may involve a sleep-dependent component. In the fourth study we investigated the ability of proprioceptive training to improve motor learning. Subjects had to match the position and speed of desired trajectories. At regular intervals during motor motor learning, subjects were presented with the desired trajectory either only visually, or with both vision and and passive proprioceptive movement through the desired trajectory using a robot. Subjects who received proprioceptive guidance indeed performed better in matching both velocity and position of desired movements, suggesting a role for passive proprioceptive training in improving motor learning

Analysis of the natively unstructured RNA/protein-recognition core in the Escherichia coli RNA degradosome and its interactions with regulatory RNA/Hfq complexes.

The RNA degradosome is a multi-enzyme assembly that plays a central role in the RNA metabolism of Escherichia coli and numerous other bacterial species including pathogens. At the core of the assembly is the endoribonuclease RNase E, one of the largest E. coli proteins and also one that bears the greatest region predicted to be natively unstructured. This extensive unstructured region, situated in the C-terminal half of RNase E, is punctuated with conserved short linear motifs that recruit partner proteins, direct RNA interactions, and enable association with the cytoplasmic membrane. We have structurally characterized a subassembly of the degradosome-comprising a 248-residue segment of the natively unstructured part of RNase E, the DEAD-box helicase RhlB and the glycolytic enzyme enolase, and provide evidence that it serves as a flexible recognition centre that can co-recruit small regulatory RNA and the RNA chaperone Hfq. Our results support a model in which the degradosome captures substrates and regulatory RNAs through the recognition centre, facilitates pairing to cognate transcripts and presents the target to the ribonuclease active sites of the greater assembly for cooperative degradation or processing