A model-based bone milling state identification method via force sensing for a robotic surgical system.

Background: This paper presents a model-based bone milling state identification method that provides intraoperative bone quality information during robotic bone milling. The method helps surgeons identify bone layer transitions during bone milling.

Methods: On the basis of a series of bone milling experiments with commercial artificial bones, an artificial neural network force model is developed to estimate the milling force of different bone densities as a function of the milling feed rate and spindle speed.

Three-Dimensional Intravascular Reconstruction Techniques Based on Intravascular Ultrasound: A Technical Review.

Intravascular ultrasound (IVUS) imaging provides two-dimensional (2-D) real-time luminal and transmural cross-sectional images of intravascular vessels with detailed pathological information. It has offered significant advantages in terms of diagnosis and guidance and has been increasingly introduced from coronary interventions into more generalized endovascular surgery. However, IVUS itself does not provide spatial pose information for its generated images, making it difficult to construct a 3-D intravascular visualization.

Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey.

Continuum robots provide inherent structural compliance with high dexterity to access the surgical target sites along tortuous anatomical paths under constrained environments and enable to perform complex and delicate operations through small incisions in minimally invasive surgery. These advantages enable their broad applications with minimal trauma and make challenging clinical procedures possible with miniaturized instrumentation and high curvilinear access capabilities. However, their inherent deformable designs make it difficult to realize 3-D intraoperative real-time shape sensing to accurately model their shape.

Microfluidic Device to Measure the Speed of Using the Resistance Change of the Flexible Electrode.

This work presents a novel method to assess the condition of () through a resistance measurement of its undulatory locomotion speed inside a micro channel. As the worm moves over the electrode inside the micro channel, the length of the electrode changes, consequently behaving like a strain gauge. In this paper, the electrotaxis was applied for controlling the direction of motion of as an external stimulus, resulting in the worm moving towards the cathode of the circuit.

In vitro simulator with numerical stress analysis for evaluation of stent-assisted coiling embolization in cerebral aneurysm treatments.

Background: There are several complications associated with Stent-assisted Coil Embolization (SACE) in cerebral aneurysm treatments, due to damaging operations by surgeons and undesirable mechanical properties of stents. Therefore, it is necessary to develop an in vitro simulator that provides both training and research for evaluating the mechanical properties of stents.

Methods: A new in vitro simulator for three-dimensional digital subtraction angiography was constructed, followed by aneurysm models fabricated with new materials.

Single cell stiffness measurement at various humidity conditions by nanomanipulation of a nano-needle.

This paper presents a method for single cell stiffness measurement based on a nano-needle and nanomanipulation. The nano-needle with a buffering beam was fabricated from an atomic force microscope cantilever by the focused ion beam etching technique. Wild type yeast cells (W303) were prepared and placed on the sample stage inside an environmental scanning electron microscope (ESEM) chamber.

In vitro strain measurements in cerebral aneurysm models for cyber-physical diagnosis.

Background: The development of new diagnostic technologies for cerebrovascular diseases requires an understanding of the mechanism behind the growth and rupture of cerebral aneurysms. To provide a comprehensive diagnosis and prognosis of this disease, it is desirable to evaluate wall shear stress, pressure, deformation and strain in the aneurysm region, based on information provided by medical imaging technologies.

Methods: In this research, we propose a new cyber-physical system composed of in vitro dynamic strain experimental measurements and computational fluid dynamics (CFD) simulation for the diagnosis of cerebral aneurysms.

Technical skills measurement based on a cyber-physical system for endovascular surgery simulation.

Background: Quantification of medical skills is a challenge, particularly simulator-based training. In the case of endovascular intervention, it is desirable that a simulator accurately recreates the morphology and mechanical characteristics of the vasculature while enabling scoring.

Methods: For this purpose, we propose a cyber-physical system composed of optical sensors for a catheter's body motion encoding, a magnetic tracker for motion capture of an operator's hands, and opto-mechatronic sensors for measuring the interaction of the catheter tip with the vasculature model wall.