COVID-19 and beyond: development of a comprehensive telemedical diagnostic framework

Abstract Purpose During the COVID-19 pandemic, a threatening bottleneck of medical staff arose due to a shortage of trained caregivers, who became infected while working with infectious patients. While telemedicine is rapidly evolving in the fields of teleconsultation and telesurgery, proper telediagnostic systems are not yet available, although the demand for contactless patient–doctor interaction is increasing. Methods In this project, the current limitations were addressed by developing a comprehensive telediagnostic system. Therefore, medical examinations have been assessed in collaboration with medical experts. Subsequently, a framework was developed, satisfying the relevant constraints of medical-, technical-, and hygienic- aspects in order to transform in-person examinations into a contactless procedure. Diagnostic steps were classified into three groups: assisted procedures carried out by the patient, teleoperated examination methods, and adoptions of conventional methods. Results The Telemedical Diagnostic Framework was implemented, resulting in a functional proof of concept, where potentially infectious patients could undergo a full medical examination. The system comprises, e.g., a naso-pharyngeal swab, an inspection of the oral cavity, auscultation, percussion, and palpation, based on robotic end-effectors. The physician is thereby connected using a newly developed user-interface and a lead robot, with force feedback control, that enables precise movements with the follower robot on the patient’s side. Conclusion Our concept proves the feasibility of a fully telediagnostic system, that consolidates available technology and new developments to an efficient solution enabling safe patient-doctor interaction. Besides infectious situations, this solution can also be applied to remote areas.

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Magnetic Driven Two-Finger Micro-Hand with Soft Magnetic End-Effector for Force-Controlled Stable Manipulation in Microscale

Micromachines ◽

10.3390/mi12040410 ◽

2021 ◽

Vol 12 (4) ◽

pp. 410

Author(s):

Dan Liu ◽

Xiaoming Liu ◽

Pengyun Li ◽

Xiaoqing Tang ◽

Masaru Kojima ◽

...

Keyword(s):

Magnetic Force ◽

Force Feedback ◽

Soft Magnetic ◽

End Effector ◽

Force Microscopy ◽

System A ◽

Atomic Force ◽

Afm Probe ◽

End Effectors ◽

Fixed End

In recent years, micromanipulators have provided the ability to interact with micro-objects in industrial and biomedical fields. However, traditional manipulators still encounter challenges in gaining the force feedback at the micro-scale. In this paper, we present a micronewton force-controlled two-finger microhand with a soft magnetic end-effector for stable grasping. In this system, a homemade electromagnet was used as the driving device to execute micro-objects manipulation. There were two soft end-effectors with diameters of 300 μm. One was a fixed end-effector that was only made of hydrogel, and the other one was a magnetic end-effector that contained a uniform mixture of polydimethylsiloxane (PDMS) and paramagnetic particles. The magnetic force on the soft magnetic end-effector was calibrated using an atomic force microscopy (AFM) probe. The performance tests demonstrated that the magnetically driven soft microhand had a grasping range of 0–260 μm, which allowed a clamping force with a resolution of 0.48 μN. The stable grasping capability of the magnetically driven soft microhand was validated by grasping different sized microbeads, transport under different velocities, and assembly of microbeads. The proposed system enables force-controlled manipulation, and we believe it has great potential in biological and industrial micromanipulation.

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A specialized system of pre-trip medical examinations using digital technologies

Sanitarnyj vrač (Sanitary Inspector) ◽

10.33920/med-08-2105-07 ◽

2021 ◽

pp. 60-66

Author(s):

Valeriy Vasilievich Bakutkin ◽

Ilya Valerievich Bakutkin ◽

Vladimir Aleksandrovich Zelenov

Keyword(s):

Digital Technologies ◽

Palpebral Fissure ◽

Digital Measurement ◽

Examination System ◽

Text Format ◽

Eye Tissues ◽

Examination Methods ◽

Digital Methods ◽

Medical Examinations ◽

Specialized System

A system of pre-trip medical examinations using digital technologies has been developed. It includes a remote questionnaire, the results of which are analyzed and a reporting form is generated in text format and in the form of a graph. Portable, autonomous equipment and specialized software for use in remote medical examinations have been developed. Objective examination is carried out by the method of digital biomicroscopy of the eye, which allows you to analyze the parameters of pupillary reactions, the size of the palpebral fissure, the volume of eye movement, the frequency of blinking movements, the degree of redness of the eyeballs, the presence of nystagmus, the state of the surrounding eye tissues. Also in the hardware part of the complex there are sensors for detecting and measuring the level of concentration of ethyl alcohol vapors. Contact digital measurement of body temperature is performed with a sensor in contact with the forehead area during the examination. There is an additional program for the identification of the examined person by the iris of the eye. The use of digital methods in the medical examination system increases efficiency through the use of objective examination methods.

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Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators

Actuators ◽

10.3390/act9010019 ◽

2020 ◽

Vol 9 (1) ◽

pp. 19 ◽

Cited By ~ 2

Author(s):

Bao Tri Diep ◽

Ngoc Diep Nguyen ◽

Thanh T. Tran ◽

Quoc Hung Nguyen

Keyword(s):

Control System ◽

Shoulder Joint ◽

Experimental Validation ◽

Force Feedback ◽

Feedback System ◽

Radial Force ◽

Experimental Results ◽

The Other ◽

Sliding Joint ◽

End Effectors

This research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect the horizontal tangent force, the other rotary MR brake is integrated in the shoulder joint to reflect the elevation tangent force, while the linear MR brake is integrated in the sliding joint of the arm to reflect the radial force (approach force). The proposed configuration can reflect a desired force to the operator at the end-effectors of the arm independently in 3 DOFs by controlling the current applied to the coils of the MR brakes. After the introduction, the configuration of the proposed force feedback system is presented. Afterward, the design and conducted simulation of the MR brakes for the systems are provided. The prototype of the force feedback system, which was manufactured for the experiment, is then presented as well as some of the obtained experimental results. Finally, the proposed control system is presented and its implementation to provide a desired feedback force to the operator is provided.

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WIFIP: a web-based user interface for automated synchrotron beamlines

Journal of Synchrotron Radiation ◽

10.1107/s1600577517009080 ◽

2017 ◽

Vol 24 (5) ◽

pp. 1105-1111 ◽

Cited By ~ 2

Author(s):

Yoann Sallaz-Damaz ◽

Jean-Luc Ferrer

Keyword(s):

User Interface ◽

Access Point ◽

European Synchrotron Radiation Facility ◽

Proof Of Concept ◽

Control Software ◽

Web Based ◽

New Developments ◽

Limited Bandwidth ◽

Control Interface ◽

User Access

The beamline control software, through the associated graphical user interface (GUI), is the user access point to the experiment, interacting with synchrotron beamline components and providing automated routines. FIP, the French beamline for the Investigation of Proteins, is a highly automatized macromolecular crystallography (MX) beamline at the European Synchrotron Radiation Facility. On such a beamline, a significant number of users choose to control their experiment remotely. This is often performed with a limited bandwidth and from a large choice of computers and operating systems. Furthermore, this has to be possible in a rapidly evolving experimental environment, where new developments have to be easily integrated. To face these challenges, a light, platform-independent, control software and associated GUI are required. Here,WIFIP, a web-based user interface developed at FIP, is described. Further than being the present FIP control interface,WIFIPis also a proof of concept for future MX control software.

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The Role of the End-Effector in the Perception of Virtual Surfaces Presented via Force-Feedback Haptic Interfaces

10.1115/imece1999-0005 ◽

1999 ◽

Author(s):

Janet M. Weisenberger ◽

Michael J. Krier ◽

Martha A. Rinker ◽

Sandra M. Kreidler

Keyword(s):

Force Feedback ◽

Considerable Effect ◽

Haptic Interface ◽

Haptic Interfaces ◽

End Effector ◽

Sinusoidal Gratings ◽

Different Types ◽

Force Profile ◽

End Effectors

Abstract Differences in the force profile delivered by different types of end-effectors suggest that the choice of end-effector for a haptic interface can have a considerable effect on the perception of the human user. In the present study two different end-effector types were evaluated for two different haptic interfaces. Conventional probe-stylus end-effectors were tested on the PHANToM 3-degree-of-freedom (DOF) force feedback haptic interface and for the Immersion IE2000 2-DOF force feedback joystick. These were compared to thimble-gimbal end-effectors into which the index fingertip is inserted (standard for the PHANToM and specially constructed for the IE2000). In a task in which subjects were asked to judge the orientation of virtual sinusoidal gratings, no significant differences in performance were observed. Results are discussed in terms of tasks in which the differential cues delivered by different end-effectors might influence performance.

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Force Control of a Robot Arm During Contact Task

Engineering Technology Conference on Energy, Parts A and B ◽

10.1115/etce2002/struc-29025 ◽

2002 ◽

Author(s):

A. Yetik ◽

V. Karadag

Keyword(s):

Force Control ◽

Control Algorithm ◽

Force Feedback ◽

Impedance Control ◽

Mechanical Impedance ◽

Contact Forces ◽

Working Environment ◽

Robot Arm ◽

Simulation Results ◽

End Effectors

There are extremely important applications to investigate the control of contact between the end-effectors and the object. During controlling an object, static or in motion, the robot arm should not be damaged. Forces are important in such conditions. The forces between the end-effectors and the object have to be controlled. The motion of the robot arm changes forces. Thats why, to control forces, a force kontrol algorithm must be developed. Previous conventional force control algorithms could not control the robot effectively by only considering the variation of working environment. In this study, a control algorithm strategy to achieve the desired interactions forces between the robot end-effector and the environment during contact tasks, has been developed. The surface of the object and robot are very stiff, thus contact spring coefficient Kc is very large, because of this Kc effect, the results of the forces simulation results, but we get suitable results. Study include, modelling robot arm, evaluating measured forces during contact and constructing a suitable force control algorithm, dynamics, kinematics and simulation results. In this study, we used impedans control which the surface of the object is very stiff, as known as impedance control does not try to track position and force trajectories directly, but rather to regulate the dynamic relationship between the contact forces and manipulator positions, namely the mechanical impedance. Impedance control focused on the design of a robot’s dynamic behavior as seen from the environment. In this control strategy, no hardware or software, switch is needed in the robot’s control system when the robot travels from the free motion space to the constrained space. The force feedback loop closes naturally as soon as the robot interacts with the environment, which changes the robot’s impedance as seen from the environment. By controlling the manipulator positions, and regulating their relationship to the contact forces, the manipulator can be controlled to maintain appropriate contact forces.

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Negative Stiffness Building Blocks for Statically Balanced Compliant Mechanisms: Design and Testing

Journal of Mechanisms and Robotics ◽

10.1115/1.4002247 ◽

2010 ◽

Vol 2 (4) ◽

Cited By ~ 28

Author(s):

Karin Hoetmer ◽

Geoffrey Woo ◽

Charles Kim ◽

Just Herder

Keyword(s):

Force Feedback ◽

High Efficiency ◽

Compliant Mechanisms ◽

Compliant Mechanism ◽

Building Blocks ◽

Negative Stiffness ◽

High Fidelity ◽

Proof Of Concept ◽

Design Considerations ◽

Design And Testing

In some applications, nonconstant energy storage in the flexible segments of compliant mechanisms is undesired, particularly when high efficiency or high-fidelity force feedback is required. In these cases, the principle of static balancing can be applied, where a balancing segment with a negative stiffness is added to cancel the positive stiffness of the compliant mechanism. This paper presents a strategy for the design of statically balanced compliant mechanisms and validates it through the fabrication and testing of proof-of-concept prototypes. Three compliant mechanisms are statically balanced by the use of compressed plate springs. All three balanced mechanisms have approximately zero stiffness but suffer from a noticeable hysteresis loop and finite offset from zero force. Design considerations are given for the design and fabrication of statically balanced compliant mechanisms.

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Optimal Data Collection Time in LoRa Networks—A Time-Slotted Approach

Sensors ◽

10.3390/s21041193 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1193

Author(s):

Dimitrios Zorbas ◽

Christelle Caillouet ◽

Khaled Abdelfadeel Hassan ◽

Dirk Pesch

Keyword(s):

Data Collection ◽

Low Power ◽

Network Performance ◽

Low Complexity ◽

Proof Of Concept ◽

Radio Communication ◽

Data Scheduling ◽

Remote Areas ◽

Short Period ◽

Collection Time

LoRa is a low-power and long range radio communication technology designed for low-power Internet of Things devices. These devices are often deployed in remote areas where the end-to-end connectivity provided through one or more gateways may be limited. In this paper, we examine the case where the gateway is not available at all times. As a consequence, the sensing data need to be buffered locally and transmitted as soon as a gateway becomes available. However, due to the Aloha-style transmission policy of current LoRa-based standards, such as the LoRaWAN, delivering a large number of packets in a short period of time by a large number of nodes becomes impossible. To avoid bursts of collisions and expedite data collection, we propose a time-slotted transmission scheduling mechanism. We formulate the data scheduling optimisation problem, taking into account LoRa characteristics, and compare its performance to low complexity heuristics. Moreover, we conduct a set of simulations to show the benefits of synchronous communications on the data collection time and the network performance. The results show that the data collection can reliably be achieved at least 10 times faster compared to an Aloha-based approach for networks with 100 or more nodes. We also develop a proof-of-concept to assess the overhead cost of communicating the schedule to the nodes and we present experimental results.

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Symptoms and diagnosis of neuroendocrine tumors of the digestive system

Orvosi Hetilap ◽

10.1556/oh.2011.29046 ◽

2011 ◽

Vol 152 (10) ◽

pp. 371-378 ◽

Cited By ~ 1

Author(s):

Tibor Gyökeres

Keyword(s):

Neuroendocrine Tumors ◽

Needle Biopsy ◽

Chromogranin A ◽

Digestive System ◽

Clinical Symptoms ◽

Fine Needle Biopsy ◽

Paraneoplastic Syndromes ◽

New Developments ◽

Long Time ◽

Examination Methods

Neuroendocrine tumors of the digestive system can cause very diverse clinical symptoms. Due to the secretion of biogenic amines, peptides and hormones secreted by the tumor cells, various paraneoplastic syndromes can evolve, on the other hand, the growth and spreading of hormonally inactive tumors can result in different local symptoms. Patients can be symptom-free for a long time or aspecific, often periodical symptoms can prevent recognition or lead to misdiagnosis for years. The symptomatology of hormonally active tumors, derived mainly from the pancreas is very characteristic. Carcinoid syndrome can be seen in 10-18% of patients with neuroendocrine tumors. In this review, the critical appreciation of laboratory and imaging modalities is discussed. Among the major new developments in this field, the introduction of serum chromogranin A assay and new small bowel examination methods should be mentioned. Capsule endoscopy and balloon enteroscopy can provide possibility of much more earlier diagnosis, as previously. The worldwide spreading of endoscopic ultrasound and fine needle biopsy allows the detection and clear localization of pancreatic neuroendocrine tumors. Orv. Hetil., 2011, 152, 371–378.

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Analysis of Commission Forensic-medical Examinations performed in Cases Concerning the Responsibility of Surgical Professional Doctors

Galician Medical Journal ◽

10.21802/gmj.2020.2.10 ◽

2020 ◽

Vol 27 (2) ◽

pp. E2020210

Author(s):

Natalia Kozan ◽

Volodymyr Voloshynovych ◽

Yuliia Kotsyubynska ◽

Halyna Zelenchuk ◽

Andrii Tsikhivskyi

Keyword(s):

Adverse Effects ◽

Annual Reports ◽

Criminal Case ◽

Medical Professionals ◽

Surgical Interventions ◽

Medical Expertise ◽

Legal Literacy ◽

Examination Methods ◽

Medical Examinations ◽

Therapeutic Profile

The objective of the research was the analysis of the structure of the commission of forensic medical examinations concerning professional offenses of medical professionals of the surgical profile according to the data of the Ivano-Frankivsk Regional Bureau of Forensic Medical Expertise for the period 2015-2019. Materials and methods. The material of the study were the annual reports of the Ivano-Frankivsk Regional Bureau of Forensic Medical Expertise (Commission Department) and criminal case materials. Obtained data were processed using Microsoft Exel, Statistica 6.0. Results. It was found that forensic medical examinations in case of improper performance of professional duties by medical workers accounted for a relatively small part 71 (14.3%) of the total forensic medical expertise. After the performed analysis, it was found that the doctors made diagnostic, therapeutic, organizational-tactical, deontological and combined errors that had a direct (29%) or indirect (26%) connection with the onset of death or adverse effects on the patient’s health. In 45% of cases, there was no correlation between the doctor’s actions and the occurrence of adverse effects for the patient. Conclusions. The number of cases for improper performance of professional duties by medical workers is significantly higher in surgeons and obstetricians-gynecologists than in doctors of therapeutic profile. Every year, the complexity of commission forensic medical examinations in case of improper performance of professional duties by medical workers increases. This is due to the increasing complexity of surgical interventions and instrumental examination methods, as well as the increasing legal literacy of the population.

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