scholarly journals Software Architecture of a System for Robotic Surgery

2008 ◽  
Author(s):  
Hermann Mayer ◽  
Darius Burschka ◽  
Alois Knoll ◽  
Eva Ulla Braun ◽  
R�diger Lange ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Heart Surgery ◽  
Septal Defect ◽  
Surgical Instruments ◽  
Modular Architecture ◽  
Control Software ◽  
Extensive Evaluation ◽  
Different Types ◽  
Heart Center ◽  
High Level

At the German Heart Center Munich we have installed and evaluated a novel system for robotic surgery. Its main features are the incorporation of haptics (by means of strain gauge sensors at the instruments) and partial automation of surgical tasks. However, in this paper we focus on the software engineering aspects of the system. We present a hierarchical approach, which is inspired by the modular architecture of the hardware. Each component of the system, and therefore each component of the control software can be easily interchanged by another instance (e.g. different types of robots may be employed to carry the surgical instruments). All operations are abstracted by an intuitive user interface, which provides a high level of transparency. In addition, we have included techniques known from character animation (so called key-framing) in order to enable operation of the system by users with non-engineering backgrounds. The introduced concepts have proven effective during an extensive evaluation with 30 surgeons. Thereby, the system was used to conduct simplified operations in the field of heart surgery, including the replacement of a papillary tendon and the occlusion of an atrial septal defect.

Using Histological and Chemical Methods for Detection of Unauthorized Tissues Addition in Emulsion Type Meat Product

2020 ◽  
Keyword(s):  
Vascular Tissue ◽  
Meat Product ◽  
Calcium Content ◽  
Processed Meat ◽  
Low Protein ◽  
Significant Difference ◽  
Different Types ◽  
Plant Stem ◽  
High Level ◽  
Reliable Methods

Total twenty different processed meat plant producing emulsion type sausage were histologically and chemically examined for detection of adulteration with unauthorized tissues. Results revealed that samples were adulterated with different types of animal tissues included; hyaline cartilage, tendon, spongy bone, peripheral nerve trunk, basophilic matrix, lymphatic tissue, fascia, fibrocartilage and vascular tissue. Moreover, these samples were adulterated Also, adulterated with plant tissue included; plant stem, leaves and root. Chemical analysis showed a significant difference in their chemical composition (moisture, fat, protein, ash and calcium) content. Moisture and fat content varied around the permissible limit of E.S.S. while low protein, high ash and calcium content was detected in the examined samples. Therefore, Histological and chemical examinations can be used as reliable methods to detect adultration using unauthorized addition of both animal and plant tissues in processed meat product samples which revealed a high level of falsification.

Axillary artery: An unanticipated choice of access in the cath lab!

2021 ◽  
pp. 021849232110264
Author(s):  
Puneet Varma ◽  
Bharath A Paraswanath ◽  
Anand Subramanian ◽  
Jayaranganath Mahimarangaiah
Keyword(s):  
Hospital Stay ◽  
Heart Surgery ◽  
Septal Defect ◽  
Axillary Artery ◽  
Open Heart Surgery ◽  
Open Heart ◽  
Ventricular Septal Defects ◽  
Septal Defects ◽  
Rare Site

Ventricular septal defects are increasingly being closed by transcatheter technique, with lesser morbidity and shorter hospital stay compared to open heart surgery. We report a case of embolization of a duct occluder deployed in a posterior muscular septal defect. The rare site of embolization necessitated an unusual approach for retrieval prior to subsequent closure using a double-disc device.

scholarly journals Surgical Audio Guidance: Feasibility Check for Robotic Surgery Procedures

2020 ◽  
Vol 6 (3) ◽  
pp. 571-574
Author(s):  
Anna Schaufler ◽  
Alfredo Illanes ◽  
Ivan Maldonado ◽  
Axel Boese ◽  
Roland Croner ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Haptic Feedback ◽  
Acoustic Emissions ◽  
Surgical Instruments ◽  
Additional Information ◽  
Tissue Interactions ◽  
Haptic Interactions ◽  
Visual Clues ◽  
To Receive ◽  
Expected Signal

AbstractIn robot-assisted procedures, the surgeon controls the surgical instruments from a remote console, while visually monitoring the procedure through the endoscope. There is no haptic feedback available to the surgeon, which impedes the assessment of diseased tissue and the detection of hidden structures beneath the tissue, such as vessels. Only visual clues are available to the surgeon to control the force applied to the tissue by the instruments, which poses a risk for iatrogenic injuries. Additional information on haptic interactions of the employed instruments and the treated tissue that is provided to the surgeon during robotic surgery could compensate for this deficit. Acoustic emissions (AE) from the instrument/tissue interactions, transmitted by the instrument are a potential source of this information. AE can be recorded by audio sensors that do not have to be integrated into the instruments, but that can be modularly attached to the outside of the instruments shaft or enclosure. The location of the sensor on a robotic system is essential for the applicability of the concept in real situations. While the signal strength of the acoustic emissions decreases with distance from the point of interaction, an installation close to the patient would require sterilization measures. The aim of this work is to investigate whether it is feasible to install the audio sensor in non-sterile areas far away from the patient and still be able to receive useful AE signals. To determine whether signals can be recorded at different potential mounting locations, instrument/tissue interactions with different textures were simulated in an experimental setup. The results showed that meaningful and valuable AE can be recorded in the non-sterile area of a robotic surgical system despite the expected signal losses.

scholarly journals Space Precession Target Classification Based on Radar High-Resolution Range Profiles

2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Yizhe Wang ◽  
Cunqian Feng ◽  
Yongshun Zhang ◽  
Sisan He
Keyword(s):  
Parameter Extraction ◽  
Classification Performance ◽  
Support Vector ◽  
Electromagnetic Data ◽  
Feature Extractor ◽  
Different Types ◽  
Radar Echo ◽  
High Level ◽  
Cone Target

Precession is a common micromotion form of space targets, introducing additional micro-Doppler (m-D) modulation into the radar echo. Effective classification of space targets is of great significance for further micromotion parameter extraction and identification. Feature extraction is a key step during the classification process, largely influencing the final classification performance. This paper presents two methods for classifying different types of space precession targets from the HRRPs. We first establish the precession model of space targets and analyze the scattering characteristics and then compute electromagnetic data of the cone target, cone-cylinder target, and cone-cylinder-flare target. Experimental results demonstrate that the support vector machine (SVM) using histograms of oriented gradient (HOG) features achieves a good result, whereas the deep convolutional neural network (DCNN) obtains a higher classification accuracy. DCNN combines the feature extractor and the classifier itself to automatically mine the high-level signatures of HRRPs through a training process. Besides, the efficiency of the two classification processes are compared using the same dataset.

scholarly journals Quantifying the signals contained in heterogeneous neural responses and determining their relationships with task performance

2014 ◽  
Vol 112 (6) ◽  
pp. 1584-1598 ◽  
Author(s):  
Marino Pagan ◽  
Nicole C. Rust
Keyword(s):  
Task Performance ◽  
Single Neuron ◽  
Weighted Sums ◽  
Neural Responses ◽  
Signal Modulation ◽  
Neural Data ◽  
Match To Sample ◽  
Neural Populations ◽  
Different Types ◽  
High Level

The responses of high-level neurons tend to be mixtures of many different types of signals. While this diversity is thought to allow for flexible neural processing, it presents a challenge for understanding how neural responses relate to task performance and to neural computation. To address these challenges, we have developed a new method to parse the responses of individual neurons into weighted sums of intuitive signal components. Our method computes the weights by projecting a neuron's responses onto a predefined orthonormal basis. Once determined, these weights can be combined into measures of signal modulation; however, in their raw form these signal modulation measures are biased by noise. Here we introduce and evaluate two methods for correcting this bias, and we report that an analytically derived approach produces performance that is robust and superior to a bootstrap procedure. Using neural data recorded from inferotemporal cortex and perirhinal cortex as monkeys performed a delayed-match-to-sample target search task, we demonstrate how the method can be used to quantify the amounts of task-relevant signals in heterogeneous neural populations. We also demonstrate how these intuitive quantifications of signal modulation can be related to single-neuron measures of task performance ( d′).

Research on Three-Dimensional Displacement Measurement Technology of the Beating Heart

2011 ◽  
Vol 403-408 ◽  
pp. 5182-5186
Author(s):  
Sheng Yi Yang ◽  
An Gu ◽  
Meng Li ◽  
Chang Jian Lu
Keyword(s):  
Heart Surgery ◽  
Classical Mechanics ◽  
Three Dimensional ◽  
Beating Heart ◽  
Displacement Measurement ◽  
Surgical Instruments ◽  
Analytical Models ◽  
Measurement Technology ◽  
Position Measurement ◽  
Mechanics Of Materials

In robotic-assisted heart surgery, the method of canceling the relative motion between the surgical site on the heart and the surgical instruments was introduced in this paper. A whisker sensor was designed for three dimensional position measurement in beating heart surgery. Analytical models were developed according to the classical mechanics of materials, and theoretical formulas were derived for displacement measurement. Feasibility and effectiveness of the method were verified by simulation experiments. We can obtain measurements by loading displacement to the whisker sensor, and draw conclusions by comparing the measurements.

scholarly journals An Infant with Central Nervous System Complications of Disseminated Tuberculosis

2005 ◽  
Vol 32 (1) ◽  
pp. 112-114
Author(s):  
Jean K. Mah ◽  
James D. Kellner ◽  
Dennis Kunimoto ◽  
Deepak Kaura ◽  
Manuel W. Mah
Keyword(s):  
Heart Surgery ◽  
Septal Defect ◽  
Ductus Arteriosus ◽  
Open Heart Surgery ◽  
Farm Animals ◽  
Past Medical History ◽  
Operative Complications ◽  
Ventricular Septal Defect Closure ◽  
History Of ◽  
Poor Weight Gain

A previously well, nine-month-old, Canadian-born, Caucasian infant presented with one month history of cough, irritability, and poor weight gain. Her past medical history was significant for open-heart surgery at age four months, with repair of a ventricular septal defect, closure of an atrial septal defect, and ligation of patent ductus arteriosus. There were no operative complications. Her development was normal for age. She had received her routine immunizations.There was no known infectious diseases contact or exposure to farm animals.

Morbidity of in-hospital purulent-septic infections of adults patients after different types of endovascular cardiosurgical operations

2020 ◽  
pp. 13-19
Author(s):  
Viktor Ivanovich Sergevnin ◽  
Larisa Gennadievna Kudryavtseva ◽  
Anna Igorevna Zolotukhina
Keyword(s):  
Medical Records ◽  
Heart Surgery ◽  
Surgical Intervention ◽  
Heart Rhythm ◽  
Community Acquired Pneumonia ◽  
Short Term ◽  
Intervention Community ◽  
Duration Of Surgery ◽  
Different Types ◽  
Low Incidence

An estimate of the incidence of nosocomial purulent-septic infections (GSI) of adult patients after various types of closed heart surgery according to the results of a study of medical records of 3275 patients is presented. It was established that the incidence rate of typical GSI after endovascular cardiac surgery was 3.1, with prenosological forms — 3.9 per 1000 operations. The main clinical options for postoperative GSI were infections in the field of surgical intervention, community-acquired pneumonia, urinary tract infection and bloodstream infection. There were no statistically significant differences between the incidence of GSI after stenting of the coronary arteries, operations for heart rhythm disturbances, stenosis of the carotid artery and other operations. The low incidence of GSI after closed heart surgery is due to the short duration of surgery, as well as the absence or short-term resuscitation of patients.

scholarly journals Skew Superelevation Edge Rounding Design Improving Riding Comfort on Freeways

2019 ◽  
Vol 2673 (1) ◽  
pp. 343-357
Author(s):  
Konstantinos Apostoleris ◽  
Basil Psarianos ◽  
Ioannis-Alexandros Choupas ◽  
Vassilios Matragos
Keyword(s):  
Road Safety ◽  
Simulation Program ◽  
Heavy Vehicles ◽  
Parameter Change ◽  
Vehicle Simulation ◽  
Different Types ◽  
Vertical Accelerations ◽  
Design Speed ◽  
High Level ◽  
Traveling Speed

Skew superelevation has proven to be an efficient pavement constructional measure to address hydroplaning phenomena under specific critical superelevation runoff designs. However, this technique has raised concerns about user’s comfort when driving over the skewed edge of the pavement, especially for heavy vehicles and when the traveling speed is higher than the design speed. This paper aims to evaluate the driving comfort outcome on an improved skew superelevation design, where a rounding of the skew edge has been applied. This is achieved through the use of a simulation program which examines the vehicle and driver behavior when passing over it. The simulation program estimates many parameters including the lateral and vertical accelerations ( Gy and Gz) imposed on both elements, the vehicle and the driver. This evaluation is made for different alignment designs provided in the freeway design and for a broad range of especially high velocities ranging from 80 to 160 km/h (50–100 mph), as well as for different types of heavy vehicles. Also, the influence on the above parameters has been investigated in respect of the distance between two consecutive skew superelevations, concerning cases of entering and exiting a simple, low-length curve. The outcomes are classified in order to evaluate their variability as affected by each parameter change (speed, geometry, vehicle). Simulation results are compared with thresholds, as provided in the international literature, to ensure driver comfort and a high level of road safety.

Formation and Electrochemical Properties of the Hydrophobic Composite Coatings on Aluminum Alloy

2018 ◽  
Vol 386 ◽  
pp. 315-320
Author(s):  
Vladimir S. Egorkin ◽  
Igor E. Vyaliy ◽  
Nikolay S. Sviridov ◽  
Alexander N. Minaev ◽  
Sergey L. Sinebryukhov ◽  
...  
Keyword(s):  
Aluminum Alloy ◽  
Composite Coatings ◽  
Morphological Structure ◽  
Barrier Properties ◽  
Base Layer ◽  
Layer Composite ◽  
Electrolytic Oxidation ◽  
Different Types ◽  
Plasma Electrolytic ◽  
High Level

Plasma electrolytic oxidation (PEO) of 5754 aluminum alloy in a tartrate electrolyte was carried out to form a base layer. Composite fluoropolymer coatings were obtained on the base layers in two ways allowing the formation of two different types of morphological structure: a continuous polymer film and a multimodal islet relief. The resulted coatings exhibit substantially different wettability along with high level of barrier properties.

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