Use of shear waves for diagnosis and ablation monitoring of prostate cancer: a feasibility study

Prostate cancer remains as a major healthcare issue. Limitations in current diagnosis and treatment monitoring techniques imply that there is still a need for improvements. The efficacy of prostate cancer diagnosis is still low, generating under and over diagnoses. High intensity focused ultrasound ablation is an emerging treatment modality, which enables the noninvasive ablation of pathogenic tissue. Clinical trials are being carried out to evaluate its longterm efficacy as a focal treatment for prostate cancer. Successful treatment of prostate cancer using non-invasive modalities is critically dependent on accurate diagnostic means and is greatly benefited by a real-time monitoring system. While magnetic resonance imaging remains the gold standard for prostate imaging, its wider implementation for prostate cancer diagnosis remains prohibitively expensive. Conventional ultrasound is currently limited to guiding biopsy. Elastography techniques are emerging as a promising real-time imaging method, as cancer nodules are usually stiffer than adjacent healthy prostatic tissue. In this paper, a new transurethral approach is proposed, using shear waves for diagnosis and ablation monitoring of prostate cancer. A finite-difference time domain model is developed for studying the feasibility of the method, and an inverse problem technique based on genetic algorithms is proposed for reconstructing the location, size and stiffness parameters of the tumour. Preliminary results indicate that the use of shear waves for diagnosis and monitoring ablation of prostate cancer is feasible

Wave propagation in a fractional viscoelastic tissue model: Application to transluminal procedures

In this article, a wave propagation model is presented as the first step in the development of a new type of transluminal procedure for performing elastography. Elastography is a medical imaging modality for mapping the elastic properties of soft tissue. The wave propagation model is based on a Kelvin Voigt Fractional Derivative (KVFD) viscoelastic wave equation, and is numerically solved using a Finite Difference Time Domain (FDTD) method. Fractional rheological models, such as the KVFD, are particularly well suited to model the viscoelastic response of soft tissue in elastography. The transluminal procedure is based on the transmission and detection of shear waves through the luminal wall. Shear waves travelling through the tissue are perturbed after encountering areas of altered elasticity. These perturbations carry information of medical interest that can be extracted by solving the inverse problem. Scattering from prostate tumours is used as an example application to test the model. In silico results demonstrate that shear waves are satisfactorily transmitted through the luminal wall and that echoes, coming from reflected energy at the edges of an area of altered elasticity, which are feasibly detectable by using the transluminal approach. The model here presented provides a useful tool to establish the feasibility of transluminal procedures based on wave propagation and its interaction with the mechanical properties of the tissue outside the lumen

Optimal measurement setup for damage detection in piezoelectric plates

[EN] An optimization of the excitation-measurement configuration is proposed for the characterization of damage in PZT-4 piezoelectric plates, from a numerical point of view. To perform such an optimization, a numerical method to determine the location and extent of defects in piezoelectric plates is developed by combining the solution of an identification inverse problem, using genetic algorithms and gradient-based methods to minimize a cost functional, and using an optimized finite element code and meshing algorithm. In addition, a semianalytical estimate of the probability of detection is developed and validated, which provides a flexible criterion to optimize the experimental design. The experimental setup is optimized upon several criteria: maximizing the probability of detection against noise effects, ensuring robust search algorithm convergence and increasing the sensitivity to the presence of the defect. The measurement of voltage phi is concluded to provide the highest identifiability, combined with an excitation of the specimen by a mechanical traction transverse to the polarization direction. Sufficient accuracy is predicted for the damage location and sizing under realistic noise levels. (c) 2008 Elsevier Ltd. All rights reserved.This research was supported by the Ministry of Education of Spain through Grant No. FPU AP-2006-02372.Rus, G.; Palma Guerrero, R.; Pérez-Aparicio, JL. (2009). Optimal measurement setup for damage detection in piezoelectric plates. International Journal of Engineering Science. 47(4):554-572. https://doi.org/10.1016/j.ijengsci.2008.09.006S55457247

Task-Specific Sensor Planning for Robotic Assembly Tasks

When performing multi-robot tasks, sensory feedback is crucial in reducing uncertainty for correct execution. Yet the utilization of sensors should be planned as an integral part of the task planning, taken into account several factors such as the tolerance of different inferred properties of the scene and interaction with different agents. In this paper we handle this complex problem in a principled, yet efficient way. We use surrogate predictors based on open-loop simulation to estimate and bound the probability of success for specific tasks. We reason about such task-specific uncertainty approximants and their effectiveness. We show how they can be incorporated into a multi-robot planner, and demonstrate results with a team of robots performing assembly tasks

Planning and control for microassembly of structures composed of stress-engineered MEMS microrobots

We present control strategies that implement planar microassembly using groups of stress-engineered MEMS microrobots (MicroStressBots) controlled through a single global control signal. The global control signal couples the motion of the devices, causing the system to be highly underactuated. In order for the robots to assemble into arbitrary planar shapes despite the high degree of underactuation, it is desirable that each robot be independently maneuverable (independently controllable). To achieve independent control, we fabricated robots that behave (move) differently from one another in response to the same global control signal. We harnessed this differentiation to develop assembly control strategies, where the assembly goal is a desired geometric shape that can be obtained by connecting the chassis of individual robots. We derived and experimentally tested assembly plans that command some of the robots to make progress toward the goal, while other robots are constrained to remain in small circular trajectories (orbits) until it is their turn to move into the goal shape. Our control strategies were tested on systems of fabricated MicroStressBots. The robots are 240–280 µm × 60 µm × 7–20 µm in size and move simultaneously within a single operating environment. We demonstrated the feasibility of our control scheme by accurately assembling five different types of planar microstructures

Experimental Evidence of Generation and Reception by a Transluminal Axisymmetric Shear Wave Elastography Prototype

Experimental evidence on testing a non-ultrasonic-based probe for a new approach in transluminal elastography was presented. The proposed modality generated shear waves by inducing oscillatory rotation on the lumen wall. Detection of the propagated waves was achieved at a set of receivers in mechanical contact with the lumen wall. The excitation element of the probe was an electromagnetic rotational actuator whilst the sensing element was comprised by a uniform anglewise arrangement of four piezoelectric receivers. The prototype was tested in two soft-tissue-mimicking phantoms that contained lumenlike conduits and stiffer inclusions. The shear wave speed of the different components of the phantoms was characterized using shear wave elastography. These values were used to estimate the time-of-flight of the expected reflections. Ultrafast ultrasound imaging, based on Loupas' algorithm, was used to estimate the displacement field in transversal planes to the lumenlike conduit and to compare against the readouts from the transluminal transmission-reception tests. Experimental observations between ultrafast imaging and the transluminal probe were in good agreement, and reflections due to the stiffer inclusions were detected by the transluminal probe. The obtained experimental evidence provided proof-of-concept for the transluminal elastography probe and encouraged further exploration of clinical applications

A Steerable, Untethered, 250x60 micron MEMS Mobile Micro-Robot

We present a steerable, electrostatic, untethered, MEMS micro-robot, with dimensions of 60 µm by 250 µm by 10 µm. This micro-robot is 1 to 2 orders of magnitude smaller in size than previous micro-robotic systems. The device consists of a curved, cantilevered steering arm, mounted on an untethered scratch drive actuator. These two components are fabricated monolithically from the same sheet of conductive polysilicon, and receive a common power and control signal through a capacitive coupling with an underlying electrical grid. All locations on the grid receive the same power and control signal, so that the devices can be operated without knowledge of their position on the substrate and without constraining rails or tethers. Control and power delivery waveforms are broadcast to the device through the capacitive power coupling, and are decoded by the electromechanical response of the device body. Individual control of the component actuators provides two distinct motion gaits (forward motion and turning), which together allow full coverage of a planar workspace (the robot is globally controllable). These MEMS micro-robots demonstrate turning error of less than 3.7 °/mm during forward motion, turn with radii as small as 176 µm, and achieve speeds of over 200 µm/sec, with an average step size of 12 nm. They have been shown to operate open-loop for distances exceeding 35 cm without failure, and can be controlled through teleoperation to navigate complex paths