Integration of microvascular, interstitial, and lymphatic function to determine the effect of their interaction on interstitial fluid volume

Although the physics of interstitial fluid balance is relatively well understood, clinical options for the treatment of edema, the accumulation of fluid in the interstitium, are limited. Two related reasons for this failure can be identified. First, the processes involved in the transfer of fluid and proteins into the interstitium from the microvasculature, and their transfer out of the interstitium via the lymphatic system, are governed by complex equations that are not amenable to manipulation by physiologists. Second, the fundamental processes involved include complex anatomical structures that are not amenable to characterization by engineers. The dual tools of the batwing model and simplified mathematical modeling can be used to address the main objective: to integrate microvascular, interstitial, and lymphatic function to determine the effect of their interaction on interstitial fluid volume. In order to address this objective and the limitations of the current state of knowledge of the field, three specific aims were achieved. 1) Develop a simple, transparent, and general algebraic approach that predicts interstitial fluid pressure, volume and protein concentration resulting from the interaction of microvascular, interstitial and lymphatic function. These algebraic solutions provide a novel characterization of interstitial fluid pressure as a balance point between the two processes that determine interstitial inflow and outflow. 2) Develop a simple, algebraic formulation of Edemagenic Gain (the change in interstitial fluid volume resulting from changes in effective microvascular driving pressure) in terms of microvascular, interstitial and lymphatic structural parameters. By separating the structural parameters from functional variables, this novel approach indicates how these critical parameters interact to determine the tendency to form edema. 3) To expand the list of known interactions of microvascular, interstitial, and lymphatic functions to include the direct interaction of venular and lymphatic function. Venomotion was found not only to extrinsically pump lymph but also to mechanically trigger intrinsic lymphatic contractions. These three advances together represent a new direction in the field of interstitial fluid balance, and could only be possible by taking an interdisciplinary approach integrating physiology and engineering

Kinematic conditioning augmentation to haptic interface for teleoperation

Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to [email protected], referencing the URI of the item.Includes bibliographical references (leaves 77-82).Issued also on microfiche from Lange Micrographics.A solution is proposed for the kinematic conditioning problem in teleoperation. The proposed solution helps the operator in understanding the kinematic conditioning of the slave manipulator with the help of haptic interface. Teleoperation involves manipulation at a remote location by an operator through a master device located at the control station. Visual feedback of the remote location helps the operator in understanding the behavior of the slave manipulator and its environment. The precise perception of the environment and slave manipulator configuration is impossible with the current visual feedback methods where the slave manipulator has to work in complex environment. In such a situation, to assist the operator, the kinematic configuration of the master device is kept similar to that of the salve manipulator. Use of this solution may result in an awkward-to-operate master device which decreases the efficiency of the operator. To make the operator aware of the kinematic conditioning of the slave manipulator, the proposed solution utilizes the capabilities of the haptic interface, which is widely used in teleoperation. Haptic interfaces have been used to transfer the real interaction between the slave manipulator and its environment to the master side. The algorithm developed uses them to generate the virtual force feedback depending on the kinematic conditioning and other physical limits of the slave manipulator. It helps in enhancing the operator skills, increasing the operation efficiency and precision. Singularity condition, joint angle limit, joint velocity limit and non-holonomic constraint of the slave manipulator are considered as factors affecting the kinematic conditioning. Different force feedback strategies are developed to handle the problematic situations, based on which virtual force feedback is generated that assists in deciding further course of action and guides the operator out of the problematic situation. To assess the effectiveness of the virtual force feedback for kinematic conditioning a test bed is developed. Different teleoperation tasks can be performed using a 2 DoF master haptic device and simulation model of the slave manipulator. 3D display is used as a visual interface. Two master haptic devices are used for controlling the slave manipulator. A Non-holonomic mobile base and a 2D planner manipulator are used as slave manipulators

Kinematic conditioning augmentation to haptic interface for teleoperation

Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to [email protected], referencing the URI of the item.Includes bibliographical references (leaves 77-82).Issued also on microfiche from Lange Micrographics.A solution is proposed for the kinematic conditioning problem in teleoperation. The proposed solution helps the operator in understanding the kinematic conditioning of the slave manipulator with the help of haptic interface. Teleoperation involves manipulation at a remote location by an operator through a master device located at the control station. Visual feedback of the remote location helps the operator in understanding the behavior of the slave manipulator and its environment. The precise perception of the environment and slave manipulator configuration is impossible with the current visual feedback methods where the slave manipulator has to work in complex environment. In such a situation, to assist the operator, the kinematic configuration of the master device is kept similar to that of the salve manipulator. Use of this solution may result in an awkward-to-operate master device which decreases the efficiency of the operator. To make the operator aware of the kinematic conditioning of the slave manipulator, the proposed solution utilizes the capabilities of the haptic interface, which is widely used in teleoperation. Haptic interfaces have been used to transfer the real interaction between the slave manipulator and its environment to the master side. The algorithm developed uses them to generate the virtual force feedback depending on the kinematic conditioning and other physical limits of the slave manipulator. It helps in enhancing the operator skills, increasing the operation efficiency and precision. Singularity condition, joint angle limit, joint velocity limit and non-holonomic constraint of the slave manipulator are considered as factors affecting the kinematic conditioning. Different force feedback strategies are developed to handle the problematic situations, based on which virtual force feedback is generated that assists in deciding further course of action and guides the operator out of the problematic situation. To assess the effectiveness of the virtual force feedback for kinematic conditioning a test bed is developed. Different teleoperation tasks can be performed using a 2 DoF master haptic device and simulation model of the slave manipulator. 3D display is used as a visual interface. Two master haptic devices are used for controlling the slave manipulator. A Non-holonomic mobile base and a 2D planner manipulator are used as slave manipulators

eBat: A Technology-enriched Life Sciences Research Community

We are leveraging Web-based technology to create an online community for Life Science research. Our prototype community for cardiovascular research with live bats, called eBat, consists of local researchers as well as remote collaborators. The eBat project offers scientists and students a remote-controlled microscope for conducting experiments, a message board and a chat system for scheduled as well as spontaneous communication, and an online peer-reviewed manuscript repository. In this paper, we report our observations of the use of the eBat infrastructure by local researchers over a period of six months. Resident researchers quickly adopted the eBat infrastructure. eBat technology has now become an indispensable part of the local research group and is used extensively for coordination, communication, and awareness. eBat complements face-to-face interactions well and has resulted in improved communication amongst lab members. We are currently exploring the extension of eBat technology to include distant researchers in live cardiovascular research experiments. We discuss our initial experiences with adapting the eBat infrastructure for research-at-a-distance and the lessons learned from these initial interactions

eBat: A Technology-enriched Life Sciences Research Community

We are leveraging Web-based technology to create an online community for Life Science research. Our prototype community for cardiovascular research with live bats, called eBat, consists of local researchers as well as remote collaborators. The eBat project offers scientists and students a remote-controlled microscope for conducting experiments, a message board and a chat system for scheduled as well as spontaneous communication, and an online peerreviewed manuscript repository. In this paper, we report our observations of the use of the eBat infrastructure by local researchers over a period of six months. Resident researchers quickly adopted the eBat infrastructure. eBat technology has now become an indispensable part of the local research group and is used extensively for co-ordination, communication, and awareness. eBat complements face-to-face interactions well and has resulted in improved communication amongst lab members. We are currently exploring the extension of eBat technology to include distant researchers in live cardiovascular research experiments. We discuss our initial experiences with adapting the eBat infrastructure for research-at-a-distance and the lessons learned from these initial interactions