Sensor for Measuring the Contact Force From Human Myenteric Contractions for In Vivo Robotic Capsule Endoscope Mobility

2013 ◽  
Vol 7 (3) ◽  
Author(s):  
Benjamin S. Terry ◽  
Matthew M. Francisco ◽  
Jonathan A. Schoen ◽  
Mark E. Rentschler
Keyword(s):  
Contact Force ◽  
Capsule Endoscope ◽  
In Vivo Robotic Capsule

P2862Complementary use of contact force and local catheter impedance during RF ablation reduces ablation time in an in vivo swine model

2019 ◽  
Vol 40 (Supplement_1) ◽  
Author(s):  
K Garrott ◽  
A Sugrue ◽  
J Laughner ◽  
J Bush ◽  
S Gutbrod ◽  
...  
Keyword(s):  
Real Time ◽  
Contact Force ◽  
Force Sensing ◽  
Swine Model ◽  
Sensitive Information ◽  
Rf Ablation ◽  
Rf Energy ◽  
Force Time

Abstract Catheter-tissue coupling is crucial for effective delivery of radiofrequency (RF) energy during catheter ablation. Force sensing catheters provide a metric of mechanical tissue contact and catheter stability, while local impedance has been shown to provide sensitive information on real-time tissue heating. The complementary use of force and local impedance during RF ablation procedures could provide an advantage over the use of one metric alone. This study evaluates a prototype ablation catheter that measures both contact force (CF) using inductive sensors and local catheter impedance (LI) using only catheter electrodes. The complementary nature was assessed with discrete lesions in vitro and an intercaval line in vivo. A force-sensing catheter with LI was evaluated in explanted swine hearts (n=14) in an in vivo swine model (n=9, 50–70kg) using investigational electroanatomical mapping software. In vitro, discrete lesions were created in ventricular tissue at a range of forces (0–40g) controlled externally. RF energy was applied at a range of powers (20W, 30W, and 40W), durations (10s-60s), and catheter orientations (0°, 45°, and 90°). Lesions were stained with TTC and measured. LI drop relative to baseline during RF in the bench studies was used to inform the in vivo study. In a separate subset of animals in vivo, an intercaval line was created in three experimental groups: LI blinded, 20Ω ΔLI, and 30Ω ΔLI. CF was maintained between 15 and 25g in all groups. All ablations were performed with a power of 30W. In the LI blinded group, all lesions were delivered for 30s. In the 20Ω ΔLI group, the investigator ablated until a 20Ω drop or 30 seconds was achieved. Likewise, in the 30Ω ΔLI, the investigator ablated until a 30Ω drop or 30 seconds was achieved. In vitro, 137 discrete ventricular lesions were created. LI drop during ablation correlated strongly with lesion depth using a monoexponential fit (R=0.84) while force time integral (FTI) did not correlate as strongly (R=0.56). In the intercaval LI blinded group, starting LI ranged from 126–163Ω with a median of 138Ω. LI drops ranged from 13Ω-44Ω, with a median of 26Ω. In the 20Ω ΔLI group, starting LI ranged from 137–211Ω with a median of 161Ω and LI drop ranged from 7Ω-35Ω, with a median of 22Ω. In the 30Ω ΔLI group, starting LI ranged from 130–256Ω with a median of 171Ω and LI drop ranged from 20Ω-52Ω, with a median of 31Ω. Notably, RF time for the LI blinded group was 13±0.1 minutes while RF time in the 20Ω ΔLI group was 6.4±1.9 minutes and 7.5±0.7 minutes in the 30Ω ΔLI group. A catheter incorporating CF-sensing and LI capabilities provides a powerful tool for RF ablation. Bench studies demonstrate a strong correlation between LI drop and lesion dimensions, which guided the use of LI in vivo. In vivo, the confirmation of stable mechanical contact and viewing of real-time LI drops enabled a significant reduction in RF time while creating a continuous intercaval line. Acknowledgement/Funding This study was funded by Boston Scientific.

Intra-Articular Knee Contact Force Estimation During Walking Using Force-Reaction Elements and Subject-Specific Joint Model2

2016 ◽  
Vol 138 (2) ◽  
Author(s):  
Yihwan Jung ◽  
Cong-Bo Phan ◽  
Seungbum Koo
Keyword(s):  
Contact Force ◽  
Inverse Dynamics ◽  
Reaction Force ◽  
Muscle Tension ◽  
Contact Forces ◽  
Contact Model ◽  
Grand Challenge ◽  
Subject Specific ◽  
Mean Square Errors

Joint contact forces measured with instrumented knee implants have not only revealed general patterns of joint loading but also showed individual variations that could be due to differences in anatomy and joint kinematics. Musculoskeletal human models for dynamic simulation have been utilized to understand body kinetics including joint moments, muscle tension, and knee contact forces. The objectives of this study were to develop a knee contact model which can predict knee contact forces using an inverse dynamics-based optimization solver and to investigate the effect of joint constraints on knee contact force prediction. A knee contact model was developed to include 32 reaction force elements on the surface of a tibial insert of a total knee replacement (TKR), which was embedded in a full-body musculoskeletal model. Various external measurements including motion data and external force data during walking trials of a subject with an instrumented knee implant were provided from the Sixth Grand Challenge Competition to Predict in vivo Knee Loads. Knee contact forces in the medial and lateral portions of the instrumented knee implant were also provided for the same walking trials. A knee contact model with a hinge joint and normal alignment could predict knee contact forces with root mean square errors (RMSEs) of 165 N and 288 N for the medial and lateral portions of the knee, respectively, and coefficients of determination (R2) of 0.70 and −0.63. When the degrees-of-freedom (DOF) of the knee and locations of leg markers were adjusted to account for the valgus lower-limb alignment of the subject, RMSE values improved to 144 N and 179 N, and R2 values improved to 0.77 and 0.37, respectively. The proposed knee contact model with subject-specific joint model could predict in vivo knee contact forces with reasonable accuracy. This model may contribute to the development and improvement of knee arthroplasty.

scholarly journals Electromyography-Driven Forward Dynamics Simulation to Estimate In Vivo Joint Contact Forces During Normal, Smooth, and Bouncy Gaits

2018 ◽  
Vol 140 (7) ◽  
Author(s):  
Swithin S. Razu ◽  
Trent M. Guess
Keyword(s):  
Contact Force ◽  
Temporal Patterns ◽  
Musculoskeletal Model ◽  
Contact Forces ◽  
Dynamics Simulation ◽  
Muscle Forces ◽  
Model Predictions ◽  
Subject Specific ◽  
Full Body

Computational models that predict in vivo joint loading and muscle forces can potentially enhance and augment our knowledge of both typical and pathological gaits. To adopt such models into clinical applications, studies validating modeling predictions are essential. This study created a full-body musculoskeletal model using data from the “Sixth Grand Challenge Competition to Predict in vivo Knee Loads.” This model incorporates subject-specific geometries of the right leg in order to concurrently predict knee contact forces, ligament forces, muscle forces, and ground contact forces. The objectives of this paper are twofold: (1) to describe an electromyography (EMG)-driven modeling methodology to predict knee contact forces and (2) to validate model predictions by evaluating the model predictions against known values for a patient with an instrumented total knee replacement (TKR) for three distinctly different gait styles (normal, smooth, and bouncy gaits). The model integrates a subject-specific knee model onto a previously validated generic full-body musculoskeletal model. The combined model included six degrees-of-freedom (6DOF) patellofemoral and tibiofemoral joints, ligament forces, and deformable contact forces with viscous damping. The foot/shoe/floor interactions were modeled by incorporating shoe geometries to the feet. Contact between shoe segments and the floor surface was used to constrain the shoe segments. A novel EMG-driven feedforward with feedback trim motor control strategy was used to concurrently estimate muscle forces and knee contact forces from standard motion capture data collected on the individual subject. The predicted medial, lateral, and total tibiofemoral forces represented the overall measured magnitude and temporal patterns with good root-mean-squared errors (RMSEs) and Pearson's correlation (p2). The model accuracy was high: medial, lateral, and total tibiofemoral contact force RMSEs = 0.15, 0.14, 0.21 body weight (BW), and (0.92 < p2 < 0.96) for normal gait; RMSEs = 0.18 BW, 0.21 BW, 0.29 BW, and (0.81 < p2 < 0.93) for smooth gait; and RMSEs = 0.21 BW, 0.22 BW, 0.33 BW, and (0.86 < p2 < 0.95) for bouncy gait, respectively. Overall, the model captured the general shape, magnitude, and temporal patterns of the contact force profiles accurately. Potential applications of this proposed model include predictive biomechanics simulations, design of TKR components, soft tissue balancing, and surgical simulation.

In vivo trial of a driving system for a self-propelling capsule endoscope using a magnetic field (with video)

2010 ◽  
Vol 72 (4) ◽  
pp. 836-840 ◽  
Author(s):  
Eijiro Morita ◽  
Naotake Ohtsuka ◽  
Yasunori Shindo ◽  
Sadaharu Nouda ◽  
Takanori Kuramoto ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Capsule Endoscope ◽  
Driving System

scholarly journals An Electromyogram-Driven Musculoskeletal Model of the Knee to Predict in Vivo Joint Contact Forces During Normal and Novel Gait Patterns

2013 ◽  
Vol 135 (2) ◽  
Author(s):  
Kurt Manal ◽  
Thomas S. Buchanan
Keyword(s):  
Knee Joint ◽  
Contact Force ◽  
Contact Forces ◽  
Grand Challenge ◽  
Normal Walking ◽  
Gait Patterns ◽  
Internal Joint ◽  
Model Predictions ◽  
Joint Contact

Computational models that predict internal joint forces have the potential to enhance our understanding of normal and pathological movement. Validation studies of modeling results are necessary if such models are to be adopted by clinicians to complement patient treatment and rehabilitation. The purposes of this paper are: (1) to describe an electromyogram (EMG)-driven modeling approach to predict knee joint contact forces, and (2) to evaluate the accuracy of model predictions for two distinctly different gait patterns (normal walking and medial thrust gait) against known values for a patient with a force recording knee prosthesis. Blinded model predictions and revised model estimates for knee joint contact forces are reported for our entry in the 2012 Grand Challenge to predict in vivo knee loads. The EMG-driven model correctly predicted that medial compartment contact force for the medial thrust gait increased despite the decrease in knee adduction moment. Model accuracy was high: the difference in peak loading was less than 0.01 bodyweight (BW) with an R2 = 0.92. The model also predicted lateral loading for the normal walking trial with good accuracy exhibiting a peak loading difference of 0.04 BW and an R2 = 0.44. Overall, the EMG-driven model captured the general shape and timing of the contact force profiles and with accurate input data the model estimated joint contact forces with sufficient accuracy to enhance the interpretation of joint loading beyond what is possible from data obtained from standard motion capture studies.

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