METHODS, SYSTEMS, AND DEVICES FOR SURGICAL ACCESS AND PROCEDURES

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient\u27s cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms

Video capture and post-processing technique for approximating 3D projectile trajectory

In this paper we introduce a low-cost procedure and methodology for markerless projectile tracking in three-dimensional (3D) space. Understanding the 3D trajectory of an object in flight can often be essential in examining variables relating to launch and landing conditions. Many systems exist to track the 3D motion of projectiles but are often constrained by space or the type of object the system can recognize (Qualisys, Göteborg, Sweden; Vicon, Oxford, United Kingdom; Opti-Track, Corvallis, Oregon USA; Motion Analysis, Santa Rosa, California USA; Flight Scope, Orlando, Florida USA). These technologies can also be quite expensive, often costing hundreds of thousand dollars. The system presented in this paper utilizes two high-definition video cameras oriented perpendicular to each other to record the flight of an object. A postprocessing technique and subsequent geometrically based algorithm was created to determine 3D position of the object using the two videos. This procedure and methodology was validated using a gold standard motion tracking system resulting in a 4.5 ± 1.8% deviation from the gold standard

Video capture and post-processing technique for approximating 3D projectile trajectory

In this paper we introduce a low-cost procedure and methodology for markerless projectile tracking in three-dimensional (3D) space. Understanding the 3D trajectory of an object in flight can often be essential in examining variables relating to launch and landing conditions. Many systems exist to track the 3D motion of projectiles but are often constrained by space or the type of object the system can recognize (Qualisys, Göteborg, Sweden; Vicon, Oxford, United Kingdom; Opti-Track, Corvallis, Oregon USA; Motion Analysis, Santa Rosa, California USA; Flight Scope, Orlando, Florida USA). These technologies can also be quite expensive, often costing hundreds of thousand dollars. The system presented in this paper utilizes two high-definition video cameras oriented perpendicular to each other to record the flight of an object. A postprocessing technique and subsequent geometrically based algorithm was created to determine 3D position of the object using the two videos. This procedure and methodology was validated using a gold standard motion tracking system resulting in a 4.5 ± 1.8% deviation from the gold standard

IMPROVED MOBILE WIRELESS IN VIVO SURGICAL ROBOTS: MODULAR DESIGN, EXPERIMENTAL RESULTS, AND ANALYSIS

Laparoscopic surgery results in superior patient outcomes as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery. However, the difficulty of manipulating laparoscopic tools from outside the patient’s body generally limits these benefits to patients undergoing relatively simple procedures. The use of miniature in vivo robots that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. These robots enable more complex laparoscopic procedures, increasing the number of patients that benefit from laparoscopic surgery. This thesis describes recent work focused on developing a modular wireless mobile platform that can be used for surgical vision and task assistance. The modular platform can contain a variety of tools. Design details, experimental results, and analysis of new robot prototypes (cautery, clamping, staple, sensory feedback, etc.) are presented. A biopsy tool is also redesigned from previous work. Finite element analysis and experimental results are used to analyze the grasper design, which successfully removed a liver tissue sample. Tools can be removed and exchanged in a few minutes allowing a surgeon to equip the robotic platform with the appropriate tool for the desired surgical assistance. Also, a retractable cautery device is developed. Lab experiments successfully cut and cauterized objects simulating blood vessels while another mobile platform cooperatively held the sample for cutting. Finally, visual and physiological sensory feedback packages are used to provide surgeons real time data from within the abdominal cavity. These types of self-contained surgical devices are much more transportable and much lower in cost than current robotic surgical assistants. Furthermore, such devices can be carried and deployed by non-medical personnel at the site of an injury. Moreover, a remotely located surgeon could then use these robots to provide critical first response medical intervention irrespective of the location of the patient

\u3ci\u3eIn Vivo\u3c/i\u3e Demonstration of Surgical Task Assistance Using Miniature Robots

Laparoscopy is beneficial to patients as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery.However, laparoscopy requires the manipulation of long, slender tools from outside the patient’s body. As a result, laparoscopy generally benefits only patients undergoing relatively simple procedures. An innovative approach to laparoscopy uses miniature in vivo robots that fit entirely inside the abdominal cavity. Our previous work demonstrated that a mobile, wireless robot platform can be successfully operated inside the abdominal cavity with different payloads (biopsy, camera, and physiological sensors). We hope that these robots are a step toward reducing the invasiveness of laparoscopy. The current study presents design details and results of laboratory and in vivo demonstrations of several new payload designs (clamping, cautery, and liquid delivery). Laboratory and in vivo cooperation demonstrations between multiple robots are also presented

METHODS, SYSTEMS, AND DEVICES FOR SURGICAL ACCESS AND PROCEDURES

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient\u27s cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms

Investigation of toppling ball flight in American football with a mechanical field-goal kicker

A mechanical field-goal kicking machine was used to investigate toppling ball flight in American football place-kicking, eliminating a number of uncontrollable impact variables present with a human kicker. Ball flight trajectories were recorded using a triangulation-based projectile tracking system to account for the football’s 3-dimensional position during flight as well as initial launch conditions. The football flights were described using kinematic equations relating to projectile motion including stagnant air drag and were compared to measured trajectories as well as projectile motion equations that exclude stagnant air drag. Measured football flight range deviations from the non-drag equations of projectile motion corresponded to deficits between 9 and 31%, which is described by a football toppling compound drag coefficient of 0.007 ± 0.003 kg/m. Independent variables including impact location and impact angle orientation resulted in 15 impact conditions. We found that an impact location of 5.5 cm from the bottom of the ball maximized trajectory height and distance. At the 5.5-cm impact location, alterations in impact angle produced minimal change in football trajectory, including launch angle (range = 1.96 deg), launch speed (range = 1.06 m/s), and range (range = 0.94 m)

Accepted and presented at The Design of Medical Devices Conference (DMD2016)

Background Glaucoma, one of the leading causes of blindness worldwide, is caused mainly by the disruption of the retinal ganglion cell axons in the lamina cribrosa (LC), a structure within the optic nerve head (ONH) The aim of this work was to systematically investigate ICPrelated lamina cribrosa deformation (LCD) and scleral canal expansion (SCE). Specifically, a 2D finite element (FE) model of the ONH was developed to characterize how LCD and SCE depend on the geometry and mechanical properties of ONH tissues to acute increases in ICP. Methods To characterize LCD and SCE in response to acute increases in ICP, a 2D FE model of the ONH A ten-factor two-level orthogonal experimental design was implemented to determine which anatomic and material factors mostly influenced the deformation response of ONH tissues to acute increases in ICP. A total of ten input factors that govern the geometry and material properties of the model were systematically varied. The five geometry factors were the scleral canal size, sclera thickness, LC thickness, pia mater thickness, and dura mater thickness. The five material factors were the sclera modulus, LC modulus, neural tissue modulus, pia mater modulus, and dura mater modulus. The input factors, along with their baseline values and ranges (620%), are listed i