Towards Closed-loop, Robot Assisted Percutaneous Interventions under MRI Guidance

Image guided therapy procedures under MRI guidance has been a focused research area over past decade. Also, over the last decade, various MRI guided robotic devices have been developed and used clinically for percutaneous interventions, such as prostate biopsy, brachytherapy, and tissue ablation. Though MRI provides better soft tissue contrast compared to Computed Tomography and Ultrasound, it poses various challenges like constrained space, less ergonomic patient access and limited material choices due to its high magnetic field. Even after, advancements in MRI compatible actuation methods and robotic devices using them, most MRI guided interventions are still open-loop in nature and relies on preoperative or intraoperative images. In this thesis, an intraoperative MRI guided robotic system for prostate biopsy comprising of an MRI compatible 4-DOF robotic manipulator, robot controller and control application with Clinical User Interface (CUI) and surgical planning applications (3DSlicer and RadVision) is presented. This system utilizes intraoperative images acquired after each full or partial needle insertion for needle tip localization. Presented system was approved by Institutional Review Board at Brigham and Women\u27s Hospital(BWH) and has been used in 30 patient trials. Successful translation of such a system utilizing intraoperative MR images motivated towards the development of a system architecture for close-loop, real-time MRI guided percutaneous interventions. Robot assisted, close-loop intervention could help in accurate positioning and localization of the therapy delivery instrument, improve physician and patient comfort and allow real-time therapy monitoring. Also, utilizing real-time MR images could allow correction of surgical instrument trajectory and controlled therapy delivery. Two of the applications validating the presented architecture; closed-loop needle steering and MRI guided brain tumor ablation are demonstrated under real-time MRI guidance

Dynamic modeling and bioinspired control of a walking piezoelectric motor

Szufnarowski F. Dynamic modeling and bioinspired control of a walking piezoelectric motor. Bielefeld: Universität Bielefeld; 2013.Piezoelectric motors have increasingly extended their field of applications during recent years. Improved material properties and manufacturing techniques have led to a variety of designs which can achieve theoretically unlimited displacements for moderate voltage levels while retaining a relatively high stiffness. In practical terms, this leads to stronger and faster motors which become a viable alternative to electromagnetic drives, especially if compact size and small weight are important. The piezoelectric motor considered in this work consists of four piezoelectric bender elements which can forward a ceramic bar by means of a frictional interaction. The drive elements can be compared to "legs" walking on a movable plane. The walking motor offers outstanding force generation capabilities for a motor of its size. Despite this fact, this motor has not been used in a force control scenario before and no motor models exist in the literature which can reproduce the effect of load on its performance. In this work, two dynamic motor models are developed to address the latter issue. Both of them faithfully reproduce the non-linear motor velocity decrease under load. The first model is based on an analytic approach and describes the low-level frictional interactions between the legs and the ceramic bar by means of several physically meaningful assumptions. This analytic model explains several non-linear phenomena in the operation of the walking motor within the full bandwidth of its rated operation. Non-linear influences due to the impact dynamics of the legs, ferroelectric hysteresis and friction are identified in the motor and new insights for an improved motor design as well as an improved motor-drive strategy gained. Moreover, the analytic model finds its application in a theoretical investigation of an alternative motor-drive strategy which is based on findings in insect walking. Specifically, it is shown that the performance of the motor can be improved by a half in terms of its force generation and doubled in terms of its maximal velocity, as compared to classical drive approaches, if the bioinspired drive strategy as proposed in this work is used. The second model is based on an experimental approach and system identification. Although less general, the second model is well-suited for a practical application in a force-control scenario. In particular, the experimental model is used in this work for the development of a load compensation strategy based on force feedback which restores the linearity of motor operation for moderate levels of loading. Based on the linearized motor model, a force controller is developed whose performance is evaluated both theoretically and experimentally. The developed force controller is also used in a bioinspired control scenario. Specifically, two walking motors together with their force controllers are employed in a 1-DOF antagonistic joint as force generators. The motors are supposed to partially mimic the functionality of a muscle based on the non-linear force-length relation as derived by Hill. A simple positioning task shows the feasibility of this kind of non-standard application of a piezoelectric motor. Beside the development of motor models and bioinspired control approaches, this work addresses the issue of drive-signal generation for the walking motor. Specifically, the development of motor-drive electronics is presented which supersedes the commercially available products due to its compactness and the possibility of waveform generation at much higher drive frequencies, above 50 kHz, as compared to the nominal limit of 3 kHz and commercial products. In this context, the possibility of motor operation at ultrasonic frequencies is discussed which would benefit the motor in terms of its speed and the absence of audible noises

Feature Papers in Eng

This Special Issue is a collection of high-quality reviews and original papers from editorial board members, guest editors, and leading researchers discussing new knowledge or new cutting-edge developments in the field of engineering

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

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Adaptive torque-feedback based engine control

The aim of this study was to develop a self-tuning or adaptive SI engine controller using torque feedback as the main control variable, based on direct/indirect measurement and estimation techniques. The indirect methods include in-cylinder pressure measurement, ion current measurement, and crankshaft rotational frequency variation. It is proposed that torque feedback would not only allow the operating set-points to be monitored and achieved under wider conditions (including the extremes of humidity and throttle transients), but to actively select and optimise the set-points on the basis of both performance and fuel economy. A further application could allow the use of multiple fuel types and/or combustion enhancing methods to best effect. An existing experimental facility which comprised a Jaguar AJ-V8 SI engine coupled to a Heenan-Froude Dynamatic GVAL (Mk 1) dynamometer was adopted for this work, in order to provide a flexible distributed engine test system comprising a combined user interface and cylinder pressure monitoring system, a functional dynamometer controller, and a modular engine controller which is close coupled to an embedded PC has been created. The considerable challenges involved in creating this system have meant that the core research objectives of this project have not been met. Nevertheless, an open-architecture software and hardware engine controller and independent throttle controller have been developed, to the point of testing. For the purposes of optimum ignition timing validation and combustion knock detection, an optical cylinder pressure measurement system with crank angle synchronous sampling has been developed. The departure from the project’s initial aims have also highlighted several important aspects of eddy-current dynamometer control, whose closed-loop behaviour was modelled in Simulink to study its control and dynamic response. The design of the dynamometer real-time controller was successfully implemented and evaluated in a more contemporary context using an embedded digital controller.EThOS - Electronic Theses Online ServiceSchool of Mechanical & Systems EngineeringNewcastle UniversityGBUnited Kingdo

Report / Institute für Physik

The 2014 Report of the Physics Institutes of the Universität Leipzig presents a hopefully interesting overview of our research activities in the past year. It is also testimony of our scientific interaction with colleagues and partners worldwide. We are grateful to our guests for enriching our academic year with their contributions in the colloquium and within the work groups. The open full professorship in the Institute for Experimental Physics I has been filled with an outstanding candidate. We could attract Prof. Ralf Seidel from the University of Münster. He is an expert in molecular biophysics that complements the existing strength in cellular biophysics. Prof. Hollands could fill all positions of his ERC Starting Grant, so that the work on the project \"Quantum Fields and Curvature – Novel Constructive Approach via Operator Product Expansion\" is now running at full pace. Within the Horizon 2020 project LOMID \"Large Cost-effective OLED Microdisplays and their Applications\" (2015-2017) with eight European partners including industry the semiconductor physics group contributes with transparent oxide devices. A joint laboratory for single ion implantation was established between the Leibniz-Institute for Surface Modification (IOM) and the university under the guidance of Profs. Rauschenbach and Meijer. The EU IRSES Network DIONICOS \"Dynamics of and in Complex Systems\", a consortium of 6 European and 12 non-European partners, including sites in England, France and Germany as well as in Russia, Ukraine, India, the United States and Venezuela, started in February 2014. In the next four years the Leipzig node headed by Prof. Janke will profit from the numerous international contacts this network provides. With a joint project, Prof. Kroy and Prof. Cichos participate in the newly established priority research programme SPP 1726 \"Microswimmers\", which started with a kick-off workshop in October 2014. In 2014 the International Graduate College \"Statistical Physics of Complex Systems\" run by the computational physics group has commenced its third 3-years granting period funded by Deutsch-Französische Hochschule (DFH-UFA). Besides the main partner Université de Lorraine in Nancy, France, now also Coventry University, UK, and the Institute for Condensed Matter Physis of the National Academy of Sciences of Ukraine in Lviv, Ukraine, participate as associated partners. During the last week of September the TCO2014 conference \"Transparent Conductive Oxides – Fundamentals and Applications\" took place in honor of the 100th anniversary of the death of Prof. Dr. KarlW. Bädeker. In 1907 Karl Bädeker had discovered transparent conductive materials and oxides in Leipzig. About a hundred participants joined for many invited talks from international experts, intense discussion and new cooperations. At the end of November the by now traditional 15th nternational Workshop on Recent Developments in Computational Physics \"CompPhys14\" organized by Prof. Janke took place in Leipzig. Around 60 scientists from over 10 different countries exchanged ideas and discussed recent progress in several fields of computational physics. Work has successfully continued in the Centers of Excellence (Sonderforschungsbereiche) SFB 762 \"Functionality ofOxide Interfaces\" and SFB TRR 102 \"Polymers under Multiple Constraints: Restricted and Controlled Molecular Order and Mobility\" (just renewed for 2015-2019). Our activities and success are only possible with the generous support fromvarious funding agencies for which we are very grateful and which is individually acknowledged in the brief reports