Historical aerial photographs for landslide assessment: two case histories

This paper demonstrates the value of historical aerial photographs for assessing long-term landslide evolution. The study focussed on two case histories, the Mam Tor and East Pentwyn landslides. In both case histories the variety of data was explored, that could be derived relatively easily using an ordinary PC desktop, commercially available software and commonly available photographic material. The techniques to unlock qualitative and quantitative data captured in the photographic archive were based on the principles of aerial photo-interpretation and photogrammetry. The created products comprised geomorphological maps, automatically derived elevation models (DEMs), displacement vectors and animations. The measured horizontal displacements of the Mam Tor landslide ranged from 0.09-0.74 m/yr between 1953 and 1999, which was verified by independent survey data. Moreover, the observed displacement patterns were consistent with photo-interpreted geomorphological information. The photogrammetric measurements from the East Pentwyn landslide (horizontal displacements up to 6 m/yr between 1971 and 1973) also showed a striking resemblance to independent data. In both case histories, the vertical accuracy was insufficient for detecting significant elevation changes. Nevertheless, DEMs proved to be a powerful tool for visualisation. Overall, the results in this study validated the techniques used and strongly encourage the use of historical photographic material in landslide studies

A novel multiple electrode direct current technique for characterisation of tissue resistance during surgery

Electrochemical and electrical characteristics have the potential to help differentiate between, and assess the health state of, different biological tissues. However, measurement and interpretation of these characteristics is non-trivial. We propose a new DC galvanostatic sensing method for application to laparoscopic cancer surgery. This presents a simple and cost-effective measurement coupled with straightforward data interpretation. This paper describes the electrochemical and electrical theory underpinning the technique. Additionally, we describe a measurement system employing this technique and present an investigation into the feasibility of using it for measuring the resistance of different tissue types. Measurements were performed on ex vivo porcine liver, colon and rectum tissues. Outputs were consistent with theory and showed a significant difference between the resistance of the different tissue types, (one-way ANOVA, F(2, 28) = 1369, p < 0.01). These findings indicate that this novel technique may be viable as a low cost method for the discrimination and health assessment of tissues in clinical scenarios

Assisted Magnetic Soft Continuum Robot Navigation via Rotating Magnetic Fields

Innovative robotic catheters that are soft, flexible, and controlled by magnets have the potential to revolutionize minimally invasive surgical procedures in critical areas such as the lungs, brain and pancreas, which currently pose significant safe access challenges using existing technology. These shape forming millimetre-scale magnetic soft continuum robots (MSCRs) can be designed to be highly dexterous in order to access regions of the anatomy otherwise deemed inaccessible. However, due to their soft and slender nature, MSCRs are prone to buckling under compressive loads during insertion. In this study we demonstrate buckling free insertion of high aspect ratio (80 mm long by 2 mm diameter) MSCRs into narrow, tortuous lumens enabled by coupling a specific lengthwise magnetic profile with exposure to a rotating magnetic field (RMF). We present design, finite element modelling (FEM) of the motion, fabrication and actuation of three different MSCRs. These robots are cast from NdFeB doped silicone polymer to obtain 2 mm and 3 mm diameter catheters. These are magnetized in a predefined profile such that when the catheters are placed in an RMF, a serpentine motion is generated. Experiments were conducted to quantify the behaviour of these soft catheters navigating through a soft phantom that mimicked narrow tortuous lumens such as the pancreas and bile ducts. Oscillating actuation increased the inserted depth reached by the MSCR in a tortuous channel and even enabled squeezing through a 1 mm diameter opening via shape morphing. The experiments showed that an RMF reduced the required insertion forces by almost 45% and increased the distance inserted in a fixed time frame by 3 times

A Compression Valve for Sanitary Control of Fluid-Driven Actuators

With significant research focused on integrating robotics into medical devices, sanitary control of pressurizing fluids in a precise, accurate, and customizable way is highly desirable. Current sanitary flow control methods include pinch valves which clamp the pressure line locally to restrict fluid flow; resulting in damage and variable flow characteristics over time. This article presents a sanitary compression valve based on an eccentric clamping mechanism. The proposed valve distributes clamping forces over a larger area, thereby reducing the plastic deformation and associated influence on flow characteristic. Using the proposed valve, significant reductions in plastic deformation (up to 96%) and flow-rate error (up to 98%) were found, when compared with a standard pinch valve. Additionally, an optimization strategy presents a method for improving linearity and resolution over the working range to suit specific control applications. The valve efficacy has been evaluated through controlled testing of a water jet-propelled low-cost endoscopic device. In this case, use of the optimized valve shows a reduction in the average orientation error and its variation, resulting in smoother movement of the endoscopic tip when compared to alternative wet and dry valve solutions. The presented valve offers a customizable solution for sanitary control of fluid-driven actuators

A disposable continuum endoscope using piston-driven parallel bellow actuator

This paper presents a novel low cost disposable continuum endoscope based on a piston-driven parallel bellow actuator design. The parallel bellow actuator achieves motion by being pressurized via displacement-controlled pistons. The displacements are generated by rack-and-pinion mechanisms using inexpensive stepper motors. The design concept provides a potential alternative solution to upper gastrointestinal (UGI) diagnosis. The modularity and the use of inexpensive components allow for low fabrication costs and disposability. The use of robotic assistance could facilitate the development of an easier interface for the gastroenterologists, avoiding the nonintuitive manipulation mapping of the traditional UGI endoscopes. We adapt existing kinematic solutions of multi-backbone continuum robots to model continuum parallel bellow actuators. An actuation compensation strategy is presented and validated to address the pneumatic compressibility through the transmission lines. The design concept was prototyped and tested with a custom control platform. The experimental validation shows that the actuation compensation was demonstrated to significantly improve orientation control of the endoscope end-effector. This paper shows the feasibility of the proposed design and lays the foundation toward clinical scenarios

Can Virtual Reality Trainers Improve the Compliance Discrimination Abilities of Trainee Surgeons?

The assessment of tissue compliance using a handheld tool is an important skill in medical areas such as laparoscopic and dental surgery. The increasing prevalence of virtual reality devices raises the question of whether we can exploit these systems to accelerate the training of compliance discrimination in trainee surgeons. We used a haptic feedback device and stylus to assess the abilities of naïve participants to detect compliance differences with and without knowledge of results (KR) (groups 1 and 2), as well as the abilities of participants who had undergone repetitive training over several days (group 3). Kinematic analyses were carried out to objectively measure the probing action. Untrained participants had poor detection thresholds (mean just noticeable difference, JND = 33%), and we found no effect of KR (provided after each trial) on performance (mean JND = 35%). Intensive training dramatically improved group performance (mean JND = 12%). Probing action (in particular, slower movement execution) was associated with better detection thresholds, but training did not lead to systematic changes in probing behaviour. These findings set a benchmark for training systems that act to increase perceptual sensitivity and guide the learner toward optimal movement strategies to improve discrimination

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Independent of the design, kinematic models need to be calibrated to best describe the deformation of the manipulator. However, even after calibration, unmodeled effects such as friction, nonlinear elastic and/or spatially varying material properties as well as manufacturing imprecision reduce the accuracy of these models. In this letter, we present a method for improving the accuracy of kinematic models of continuum manipulators through the incorporation of orientation sensor feedback. We achieve this through the use of a “disturbance wrench,” which is used to compensate for these unmodeled effects, and is continuously estimated based on orientation sensor feedback as the robot moves through its workspace. The presented method is applied to the HydroJet, a waterjet-actuated soft continuum manipulator, and shows an average of 40% reduction in root mean square position and orientation error in the two most common types of kinematic models for continuum manipulators, a Cosserat rod model and a pseudo-rigid body model

A Framework for Simulation of Magnetic Soft Robots using the Material Point Method

Simulation represents a key aspect in the development of robot systems. The ability to simulate behavior of real-world robots provides an environment where robot designs can be developed and control systems optimized. Due to the use of external magnetic fields for actuation, magnetic soft robots can be wirelessly controlled and are easily miniaturized. However, the relationship between magnetic soft materials and external sources of magnetic fields present significant complexities in modelling due to the relationship between material elasticity and magnetic wrench (forces and torques). In this work, we present a simulation framework for magnetic soft robots using the Material Point Method (MPM) which integrates hyper-elastic material models with the magnetic wrench induced under external fields. Compared to existing Finite Element Methods (FEM), the presented MPM based framework inherently models self-collision between areas of the model and can capture the effect of forces in non-homogeneous magnetic fields. We demonstrate the ability of the MPM framework to model the influence of magnetic wrench on magnetic soft robots, capture dynamic behavior of robots under time-varying magnetic fields, and provide an accurate representation of deformation when colliding with obstacles. We show the versatility of MPM framework by comparing simulations to a range of real-world magnetic soft robot designs previously presented in the literature

Assessment of electrochemical properties of a biogalvanic system for tissue characterisation

Biogalvanic characterisation is a promising method for obtaining health-specific tissue information. However, there is a dearth of understanding in the literature regarding the underlying galvanic cell, electrode reactions and their controlling factors which limits the application of the technique. This work presents a parametric electrochemical investigation into a zinc-copper galvanic system using salt (NaCl) solution analogues at physiologically-relevant concentrations (1.71, 17.1 & 154. mM). The potential difference at open cell, closed cell maximum current and the internal resistance (based on published characterisation methods) were measured. Additionally, independent and relative polarisation scans of the electrodes were performed to improve understanding of the system.Our findings suggest that the prominent reaction at the cathode is that of oxygen-reduction, not hydrogen-evolution. Results indicate that cell potentials are influenced by the concentration of dissolved oxygen at low currents and maximum closed cell currents are limited by the rate of oxygen diffusion to the cathode. Characterised internal resistance values for the salt solutions did not correspond to theoretical values at the extremes of concentration (1.71 and 154. mM) due to electrode resistance and current limitation. Existing biogalvanic models do not consider these phenomena and should be improved to advance the technique and its practical application