Feasibility of Automated Mobility Assessment of Older Adults via an Instrumented Cane.

This study explored the feasibility of automated characterization of functional mobility via an Instrumented Cane System (ICS) within an older adult sample of cane users. An off-the-shelf offset cane was instrumented with inertial, force, and ultrasound sensors for noninvasive data collection. Eighteen patients from a neurological out-patient rehabilitation clinic and nine independently mobile controls participated in standard clinical evaluations of mobility using the ICS while under the care of an attending physical therapist.

A Compact, Bone-Attached Robot for Mastoidectomy.

Otologic surgery often involves a mastoidectomy, which is the removal of a portion of the mastoid region of the temporal bone, to safely access the middle and inner ear. The surgery is challenging because many critical structures are embedded within the bone, making them difficult to see and requiring a high level of accuracy with the surgical dissection instrument, a high-speed drill. We propose to automate the mastoidectomy portion of the surgery using a compact, bone-attached robot.

Preliminary Testing of a Compact, Bone-Attached Robot for Otologic Surgery.

Otologic surgery often involves a mastoidectomy procedure, in which part of the temporal bone is milled away in order to visualize critical structures embedded in the bone and safely access the middle and inner ear. We propose to automate this portion of the surgery using a compact, bone-attached milling robot. A high level of accuracy is required to avoid damage to vital anatomy along the surgical path, most notably the facial nerve, making this procedure well-suited for robotic intervention.

An experimental evaluation of the force requirements for robotic mastoidectomy.

Hypothesis: During robotic milling of the temporal bone, forces on the cutting burr may be lowered by choice of cutting parameters.

Background: Robotic bone removal systems are used in orthopedic procedures, but they are currently not accurate enough for safe use in otologic surgery. We propose the use of a bone-attached milling robot to achieve the required accuracy and speed.

Design of a bone-attached parallel robot for percutaneous cochlear implantation.

Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital.

Robotic mastoidectomy.

Hypothesis: Using image-guided surgical techniques, we propose that an industrial robot can be programmed to safely, effectively, and efficiently perform a mastoidectomy.

Background: Whereas robotics is a mature field in many surgical applications, robots have yet to be clinically used in otologic surgery despite significant advantages including reliability and precision.

Methods: We designed a robotic system that incorporates custom software with an industrial robot to manipulate a surgical drill through a complex milling profile.

Self-Contained Powered Knee and Ankle Prosthesis: Initial Evaluation on a Transfemoral Amputee.

This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking.

Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis.

This paper presents a self-contained powered knee and ankle prosthesis, intended to enhance the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. Experiments on an amputee subject for level treadmill and overground walking are described.

Design and Control of an Active Electrical Knee and Ankle Prosthesis.

This paper presents an overview of the design and control of an electrically powered knee and ankle prosthesis. The prosthesis design incorporates two motor-driven ball screw units to drive the knee and ankle joints. A spring in parallel with the ankle motor unit is employed to decrease the power consumption and increase the torque output for a given motor size.

Effect of varying hamstring tension on anterior cruciate ligament strain during in vitro impulsive knee flexion and compression loading.

Background: The hamstring muscles are well positioned to limit both anterior tibial translation and anterior cruciate ligament strain during the knee flexion phase of a jump landing. We hypothesized that systematically increasing or decreasing hamstring tension during the knee flexion phase of a simulated jump landing would significantly affect peak relative strain in the anterior cruciate ligament.

Methods: Ten cadaveric knees from four male and six female donors (mean age [and standard deviation] at the time of death, 60.

Liquid-fueled actuation for an anthropomorphic upper extremity prosthesis.

This paper describes the design of a 21 degree-of-freedom, nine degree-of-actuation, gas-actuated arm prosthesis for transhumeral amputees. The arm incorporates a direct-drive elbow and three degree-of-freedom wrist, in addition to a 17 degree-of-freedom underactuated hand effected by five actuators. The anthropomorphic device includes full position and force sensing capability for each actuated degree of freedom and integrates a monopropellant-powered gas generator to provide on-board power for untethered operation.

The effect of an impulsive knee valgus moment on in vitro relative ACL strain during a simulated jump landing.

Background: We tested the hypothesis that impulsive compression, flexion and valgus knee moment loading during a simulated one-footed jump landing will significantly increase the peak relative strain in the anteromedial region of the anterior cruciate ligament compared with loading without the valgus moment.

Methods: Ten cadaveric knees [mean (SD) age: 67.9 (7.

The relationship between quadriceps muscle force, knee flexion, and anterior cruciate ligament strain in an in vitro simulated jump landing.

Background: An instrumented cadaveric knee construct was used to quantify the association between impact force, quadriceps force, knee flexion angle, and anterior cruciate ligament relative strain in simulated unipedal jump landings.

Hypothesis: Anterior cruciate ligament strain will correlate with impact force, quadriceps force, and knee flexion angle.

Study Design: Descriptive laboratory study.

Characterization of the allergen(s) in latex protein extracts.

Background: Immediate hypersensitivity to latex, induced by natural latex proteins remaining on the finished products, may lead to severe anaphylactic reactions.

Methods: We investigated the distribution of latex proteins by molecular weight and identified the specific allergenic molecules. Proteins extracted from various latex products were compared with those extracted from raw latex sap, both ammoniated and nonammoniated.

Cornstarch powder on latex products is an allergen carrier.

Allergic reactions of the upper respiratory tract during use of powdered latex rubber gloves have been recently associated with sensitivity to latex. We have studied the ability of cornstarch powder to bind latex proteins and evaluated allergenic properties of the bound protein. Allergenicity was determined by competitive inhibition of human anti-latex IgE binding to solid-phase latex antigen.

Latex-associated allergies and anaphylactic reactions.

The recent reports of severe anaphylactic reactions and several fatalities caused by contact with latex-containing products raised concerns in the medical community. Although hypersensitivity to natural rubber has been widely reported in the literature, the prevalence and severity of reactions have rapidly increased in the last few years. Latex proteins, constituents of natural latex, appear to be responsible for the sensitization.

Cytotoxicity and mutagenicity of ophthalmic solution preservatives and UVA radiation in L5178Y cells.

Four chemical preservatives commonly used in ophthalmic solutions were tested for their toxic and mutagenic potential in mouse lymphoma cells with and without exposure of the cells to ultraviolet A (UVA) radiation. The preservatives tested were benzalkonium chloride (BAK), chlorhexidine, thimerosal and ethylenediaminetetraacetic acid (EDTA). Cell survival and mutagenesis were measured using the L5178Y mouse lymphoma (TK +/-) system.