Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing

2020 ◽  
Vol 12 (3) ◽  
Author(s):  
Hritwick Banerjee ◽  
Tai Kai Li ◽  
Godwin Ponraj ◽  
Senthil Kumar Kirthika ◽  
Chwee Ming Lim ◽  
...  
Keyword(s):  
Negative Pressure ◽  
Surgical Complications ◽  
Variable Stiffness ◽  
Tactile Sensor ◽  
Interaction Force ◽  
Thin Layers ◽  
Medical Applications ◽  
Conductive Ink ◽  
Custom Made ◽  
Near Future

Abstract Origami-based flexible, compliant, and bio-inspired robots are believed to permit a range of medical applications within confined environments. In this article, we experimentally demonstrated an origami-inspired deployable surgical retractor with the controllable stiffness mechanism that can facilitate safer instrument–tissue interaction in comparison to their rigid counterparts. When controllable negative-pressure is applied to the jammed origami retractor module, it becomes more rigid, increasing its strength. To quantify origami-modules strength further, we demonstrated performances of retractor based on the Daler–Rowney Canford paper (38 grams per square meter (gsm)) and sandpaper of 1000 grit. Experiments on the proposed retractor prototype elucidated sandpaper-based retractor can outperform paper-38-gsm retractor for facelift incision with the width of more than 9 cm. Though 38 gsm Canford paper comprised of thin layers, 16 times lesser in thickness than sandpaper, experiments proved its comparable layer jamming (LJ) performance. We leverage the advantage of the LJ mechanism to tune retractor stiffness, allowing the instrument to hold and separate a facelift incision to mitigate the likelihood of surgical complications. The retractor is equipped with a custom-made printed conductive ink-based fabric piezoresistive tactile sensor to assist clinicians with tissue-retractor interaction force information. The proposed sensor showed a linear relationship with the applied force and has a sensitivity of 0.833 N−1. Finally, cadaver experiments exhibit an effective origami-inspired surgical retractor for assisting surgeons and clinicians in the near future.

Hydrogel-Shielded Soft Tactile Sensor for Biocompatible Drug Delivery Monitoring

2019 ◽  
Vol 13 (4) ◽  
Author(s):  
Hritwick Banerjee ◽  
Godwin Ponraj ◽  
Senthil Kumar Kirthika ◽  
Malapaka Venkata Suman ◽  
Chwee Ming Lim ◽  
...  
Keyword(s):  
Extended Period ◽  
Tactile Sensor ◽  
Tactile Sensing ◽  
Technological Advancement ◽  
Conductive Ink ◽  
Proof Of Concept ◽  
Tactile Sense ◽  
Tissue Interactions ◽  
Custom Made ◽  
Hydrogel Polymer

AbstractTactile sensing is an emerging technological advancement in surgical robotics in order to probe interactions between confined tissue environments and instruments based on touch information. The tactile sense can assist in improving the efficiency of the whole practice and hence enhance precision, control, and safety during surgery. This paper demonstrates a distinct proof-of-concept therapeutic device equipped with a soft tactile sensor. The tactile sensor was custom-made using flexible piezoresistive materials and conductive ink, wrapped with a biocompatible hydrogel polymer matrix for safer human–tissue interactions. The proposed tactile sensor was then calibrated and its performance was compared with gold standard sensors. It was further tested with a continuous force (5 N) for an extended period of time (about 6 h) to address robustness and repeatability. The sensor showed a sensitivity of 0.833 N−1 and a drift of ≤1%. Successful cadaver experiment demonstrates the efficiency of tactile sensing assistance to clinicians.

Quantitative Measurement of Fluorescent Layers with Respect to Spatial Thickness Variations and Substrate Properties

2020 ◽  
Vol 74 (4) ◽  
pp. 439-451
Author(s):  
Philipp Holz ◽  
Christoph Pönisch ◽  
Albrecht Brandenburg
Keyword(s):  
Manufacturing Industry ◽  
Quantitative Measurement ◽  
Fluorescence Emission ◽  
Fluorescence Analysis ◽  
Thin Layers ◽  
Fluorescence Signal ◽  
Functional Coatings ◽  
Custom Made ◽  
Substrate Properties ◽  
Thickness Variations

Imaging fluorescence spectroscopy proves to be a fast and sensitive method for measuring the thickness of thin coatings in the manufacturing industry. This encouraged us to systematically study, theoretically and experimentally, parameters that influence the fluorescence of thin layers. We analyzed the fluorescence signal as a function of the scattering and reflectance properties of the sample substrate. In addition, we investigated effects of the layer properties on fluorescence emission. A ray-tracing software is used to describe the influence of these parameters on the fluorescence emission of thin layers. Experiments using a custom-made system for imaging fluorescence analysis verify the simulations. This work shows a factor five variation of fluorescence intensity as a function of the reflectance of the sample substrate. Simulations show variations by a factor of up to eight for samples with different surface roughness. Results on tilted samples indicate a significant increase of the detected fluorescence signal, for fluorescent droplets on reflective substrates, if illuminated and coaxially observed at angles greater than 25°. These findings are of utmost relevance for all applications which utilize the fluorescence emission to quantify thin layers. These applications range from in-line lubricant monitoring in press plants to monitoring of functional coatings in medical technology and the detection of filmic contaminations.

Design and Validation of a Compatible 3-Degrees of Freedom Shoulder Exoskeleton With an Adaptive Center of Rotation

2014 ◽  
Vol 136 (7) ◽  
Author(s):  
Hua Yan ◽  
Canjun Yang ◽  
Yansong Zhang ◽  
Yiqi Wang
Keyword(s):  
Soft Tissues ◽  
Dimensional Space ◽  
Interaction Force ◽  
Shoulder Abduction ◽  
Upper Arm ◽  
Human Machine Interaction ◽  
Center Of Rotation ◽  
Custom Made ◽  
Flexion Extension ◽  
Machine Interaction

This paper outlines an experimentally based design method for a compatible 3-DOF shoulder exoskeleton with an adaptive center of rotation (CoR) by matching the mechanical CoR with the anatomical CoR to reduce human–machine interaction forces and improve comfort during dynamic humeral motion. The spatial–temporal description for anatomical CoR motion is obtained via a specific experimental task conducted on six healthy subjects. The task is comprised of a static section and a dynamic section, both of which are recorded with an infrared motion capture system using body-attached markers. To reduce the influence of human soft tissues, a custom-made four-marker group block was placed on the upper arm instead of using discrete markers. In the static section, the position of anatomical CoR is kept stationary and calculated using a well-known functional method. Based on the static results, the dynamic section determines the statistical relationship between the dynamic CoR position and the humeral orientation using an optimization method when subjects move their upper arm freely in the sagittal and coronal planes. Based on the resolved anatomical CoR motion, a new mechanical CoR model derived from a traditional ball-and-socket joint is applied to match the experimental results as closely as possible. In this mechanical model, the CoR motion in three-dimensional space is adjusted by translating two of the three intersecting joint axes, including the shoulder abduction/adduction and flexion/extension. A set of optimal translation parameters is obtained through proper matching criterion for the two CoRs. Based on the translation parameters, a compatible shoulder exoskeleton was manufactured and compared with a traditional shoulder exoskeleton with a fixed CoR. An experimental test was conducted to validate the CoR motion adaptation ability by measuring the human–machine interaction force during passive shoulder joint motion. The results provide a promising direction for future anthropomorphic shoulder exoskeleton design.

Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices

2011 ◽  
Vol 5 (4) ◽  
pp. 551-558 ◽  
Author(s):  
Shuichi Wakimoto ◽  
◽  
Issei Kumagai ◽  
Koichi Suzumori
Keyword(s):  
Large Intestine ◽  
Silicone Rubber ◽  
Negative Pressure ◽  
Complex Shape ◽  
Variable Stiffness ◽  
Medical Procedure ◽  
Pneumatic Drive ◽  
Pneumatic Pressure ◽  
Change Characteristics ◽  
Colonic Disorder

Colonoscopy is important and effective medical procedure to detect colonic disorder including cancer of the colon. However, because the large intestine is soft and complex shape, insertion of conventional colonoscopes into the large intestine is difficult, and it depends on doctors’ skill strongly. In many cases, patients feel strong pain. In this research, we aim at development of a novel colonoscope which can change own stiffness partially and realize safe insertion without special techniques. The colonoscope consists of variable stiffness devices. The device is made from silicone rubber and can change its stiffness by pneumatic pressure. In this report, two kinds of variable stiffness devices made from different silicone rubber materials have been developed by molding, and stiffness change characteristics of them are shown experimentally. By applying not only positive pneumatic pressure but also negative pressure, widely stiffness change range is realized. Additionally colonoscopes have been fabricated using them and FMA (Flexible Microactuator). From insertion experiments into the large intestine phantom, advantages and effectiveness have been recognized.

scholarly journals Systematic Review of Internet of Nano Things (IoNT) Technology: Taxonomy, Architecture, Open Challenges, Motivation and Recommendations

2021 ◽  
pp. 7-19
Author(s):  
Hayder A. Naser ◽  
Alaa Thaer Lateef ◽  
Falah A. Bida ◽  
Mohammed Zorah
Keyword(s):  
Systematic Review ◽  
Internet Of Things ◽  
Communication Networks ◽  
The Internet ◽  
Medical Applications ◽  
Iot Applications ◽  
Nano Scale ◽  
Near Future ◽  
The Internet Of Things

Internet of nano things (IoNT) is a new and modern part of the internet of things (IoT). Applications that operate in the field of nano scale show a new advantage in communication networks. IoNT opened the door to many applications in various fields with new features derived from the advantages of nanotechnology. In this work, a description of the IoNT during 2015-2021 was achieved, including taxonomy, architecture, motives, applications and challenges, in addition to recommendations. The architecture of the IoNT and the most important technologies used in Nano communication networks have been identified, with an indication of the advantages of each. This study, we hope, will make a contribution to this field of science, thus contributing to providing assistance to researchers in this emerging field and covering the challenges they face in this way. That would permit communication between nano-devices to be conventional, making these calibrations to be implemented in various IoNT applications. Until the IoNT system is designed without any problems in the near future, which if achieved, will provide great services, especially in medical applications and other applications.

Nanostructured Polycaprolactone-Inorganic Phosphate Hybrid Scaffold for Medical Applications

2010 ◽  
Vol 93-94 ◽  
pp. 67-70
Author(s):  
Lupong Kaewsichan ◽  
Jasadee Kaewsrichan ◽  
Thitima Chuchom
Keyword(s):  
Inorganic Phosphate ◽  
Medical Applications ◽  
Pore Morphology ◽  
Hybrid Scaffold ◽  
Hydrophilic Surfaces ◽  
Irregular Shapes ◽  
Artificial Bones ◽  
The Impact ◽  
Near Future ◽  
Rat Bone

New hybrid macroporous scaffolds of polycaprolactone (PCL)/tricalcium phosphate (TCP) were developed by taking into account mechanical properties of the bone to be replaced. FTIR spectra indicated the coating of TCP onto the polymer, providing hydrophilic surfaces necessary for cells to attach. As determined by DSC, the depression of PCL melting point suggested a uniform distribution of PCL within the TCP matrix. SEM micrographs revealed pores of irregular shapes varying from 100-200 µm in size in the resultant structures. Indeed, the pore morphology was precisely determined by the leached particles. The scaffolds could tolerate the impact of at least 5.6 kNm2, making them suitable for use as artificial bones of skull, clavicle and ribs. Rat bone stroma attached and survived on the scaffolds, indicating biocompatible of the used materials. Therefore, the prepared scaffolds would be applicable for bone tissue engineering in the near future.

scholarly journals SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human-Robot Applications

Actuators ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 289
Author(s):  
Vincent Ducastel ◽  
Kevin Langlois ◽  
Marco Rossini ◽  
Victor Grosu ◽  
Bram Vanderborght ◽  
...  
Keyword(s):  
Lightweight Design ◽  
Variable Stiffness ◽  
Building Blocks ◽  
Assistive Devices ◽  
Low Level ◽  
Custom Made ◽  
High Bandwidth ◽  
Compliant Actuators ◽  
Variable Stiffness Actuator ◽  
Robotic Applications

With the growing popularity of Human-Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a novel off-the-shelf Smart Variable Stiffness Actuator for human-centered robotic applications is proposed in this paper. This modular actuator combines compliant elements and sensors as well as low-level controller and high-bandwidth communication. The characterisation of the actuator is presented in this manuscript, followed by two use-cases wherein the benefits of such technology can be truly exploited. The actuator provides a lightweight design that can serve as the building blocks to facilitate the development of robotic applications.

scholarly journals Negative pressure wound therapy: eleven-year experience at a tertiary care hospital

2017 ◽  
Vol 5 (5) ◽  
pp. 1835
Author(s):  
Haroon Rashid Zargar ◽  
Mir Mohsin ◽  
Peerzada Umar Farooq Baba ◽  
Adil Hafeez Wani ◽  
Shabir Iqbal ◽  
...  
Keyword(s):  
Negative Pressure ◽  
Negative Pressure Wound Therapy ◽  
Wound Care ◽  
Low Cost ◽  
Tertiary Care ◽  
Care Hospital ◽  
Wound Therapy ◽  
Major Complications ◽  
Custom Made ◽  
A Prospective Study

Background: Management of complicated wounds is a reconstructive challenge. A reconstructive surgeon has to be ready to face new challenges every day. Negative pressure wound therapy has revolutionized the management of complex wounds. We are presenting our experience with this wound care modality in the past 11 years.Methods: It was a prospective study conducted from January 2006 to December 2016 on patients having wounds of varied etiologies, who consented to participate in this study. Custom made low cost NPWT was used till definitive wound closure.Results: A total of 568 patients consented to participate in the study during these 11 years. No major complications were seen. Most of these were males (60.73%) in their 3rd and 4th decade. Trauma was the leading cause of wounds in 38.14%, followed by diabetic foot wounds in 21.5%. Ankle and foot was the most common site of wounds (30.92%) followed by leg (24.01%). A total of 322 small, 218 medium and 97 large size dressings were used. Most of the patients improved with the NPWT.  No major complications were seen.Conclusions: NPWT is safe, effective and has proved to be revolutionary in managing difficult wounds. With the use of customized low cost NPWT the benefit can be extended to underprivileged population in under developed nations too.

Visual tactile sensor based on infrared controllable variable stiffness structure

2021 ◽  
pp. 1-1
Author(s):  
Minmin Jin ◽  
Miao Jin ◽  
Lijiu Zhang ◽  
Runhuai Yang
Keyword(s):  
Variable Stiffness ◽  
Tactile Sensor

Advanced Surface Mechanical Testing of Materials for Medical Applications

2009 ◽  
Author(s):  
Ethel Poire´
Keyword(s):  
Mechanical Testing ◽  
Single Point ◽  
Thin Layers ◽  
Medical Applications ◽  
Indentation Testing ◽  
Instrumented Indentation ◽  
Scratch Testing ◽  
Elastic Materials ◽  
Optical Contrast ◽  
Testing Techniques

This paper presents an overview of two advanced surface mechanical testing techniques: the instrumented indentation testing and the single point scratch testing techniques. Both can be used for studying bulk or thick materials, they are however powerful tools in the cases of thin layers and small features, elastic materials and surfaces with poor optical contrast. Most samples can be tested “as is” or with minimal preparation.

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