scholarly journals Method for the Detection of Tumor Blood Vessels in Neurosurgery Using a Gripping Force Feedback System

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5157
Author(s):  
Hiroki Yokota ◽  
Takeshi Yoneyama ◽  
Tetsuyou Watanabe ◽  
Yasuo Sasagawa ◽  
Mitsutoshi Nakada
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Force Feedback ◽  
Correlation Coefficients ◽  
Feedback System ◽  
Force Sensor ◽  
Robot System ◽  
Blood Vessel Detection ◽  
Operating Space ◽  
Gripping Force

Avoiding unnecessary bleeding during neuroendoscopic surgeries is crucial because achieving hemostasis in a narrow operating space is challenging. However, when the location of a blood vessel in a tumor cannot be visually confirmed, unintentional damage to the vessel and subsequent bleeding may occur. This study proposes a method for tumor blood vessel detection using a master–slave surgical robot system equipped with a force sensor in the slave gripper. Using this method, blood pulsation inside a tumor was detected, displayed as a gripping force wave, via the slave force sensor. The characteristics of gripping force due to blood pulsation were extracted by measuring the fluctuation of the force in real time. The presence or absence of blood vessels was determined on the basis of cross-correlation coefficients between the gripping force fluctuation waveform due to blood pulsation and model fluctuation waveform. Experimental validation using two types of simulated tumors (soft: E = 6 kPa; hard: E = 38 kPa) and a simulated blood vessel (E = 1.9 MPa, radius = 0.5 mm, thickness = 0.1 mm) revealed that the presence of blood vessels could be detected while gripping at a constant angle and during transient gripping.

Gripping Force Feedback System for Neurosurgery

2014 ◽  
Vol 8 (1) ◽  
pp. 83-94 ◽  
Author(s):  
Yoshinori Fujihira ◽  
◽  
Takuya Hanyu ◽  
Yusuke Kanada ◽  
Takeshi Yoneyama ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Force Sensor ◽  
Thin Plates ◽  
Display Device ◽  
Kinesthetic Sense ◽  
The Difference ◽  
Pulling Force ◽  
Gripping Force ◽  
Force Sense

A force feedback manipulator system was developed for use in neurosurgery. The system consists of a multidegree of freedom manipulator with a forcedetecting gripper and a device capable of using force feedback to display kinesthetic sense. The structure, which consists of parallel thin plates in the gripper of the manipulator, enables the detection of a gripping force and a pulling force, which can be used to grip and pull tumors. In this paper, we describe ways of improving the structure of the force sensor. Throughbilateral control, the operation device is able to display the gripping force as its driving force, and the pulling force as the frictional force between the display device and the skin of the finger. We also conducted experiments to test the force sense display capabilities of the developed system. The results showed that the system can display a force and the difference between the softness of different objects that are gripped. The ability of the system to identify different objects is increased by magnifying the detected force using an appropriate scale.

scholarly journals A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback

Micromachines ◽  
2021 ◽  
Vol 12 (10) ◽  
pp. 1141
Author(s):  
Yang Yang ◽  
Kaixiang Jin ◽  
Honghui Zhu ◽  
Gongfei Song ◽  
Haojian Lu ◽  
...  
Keyword(s):  
Food Industry ◽  
Simple Structure ◽  
Force Feedback ◽  
Force Sensor ◽  
Whole Body ◽  
Service Robot ◽  
Fin Ray ◽  
Wide Range ◽  
3D Printed ◽  
Gripping Force

Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.

220 A Stereotactic Brain Biopsy Needle Integrating an Optical Coherence Tomography (OCT) Probe with Blood Vessel Detection in Human Patients

Neurosurgery ◽  
2017 ◽  
Vol 64 (CN_suppl_1) ◽  
pp. 260-260
Author(s):  
Hari H Ramakonar
Keyword(s):  
Optical Coherence Tomography ◽  
Blood Vessel ◽  
Blood Vessels ◽  
Real Time ◽  
Brain Biopsy ◽  
Optical Coherence ◽  
Stereotactic Brain Biopsy ◽  
Biopsy Needle ◽  
Blood Vessel Detection ◽  
Vessel Detection

Abstract INTRODUCTION Stereotactic brain biopsies are a common neurosurgical procedure used predominantly to obtain histological diagnosis of brain pathologies. Intracranial haemorrhage is the most frequent complication related to this procedure and is associated with increased morbidity and mortality. We present a pilot study investigating a customised miniature Optical Coherence Tomography (OCT) probe integrated into a commercial stereotactic brain biopsy needle. OCT is a high-resolution optical imaging modality that uses reflections of low-power, near-infrared light to characterise tissue. The probe is combined with fully automated blood vessel detection software based on speckle decorrelation to provide real-time feedback as the needle tip encounters a blood vessel. METHODS We demonstrate the use of such a needle intraoperatively for the first time in humans. A total of 167 superficial blood vessel and control measurements were obtained in 11 patients undergoing craniotomies for various pathologies. Deep blood vessel measurements were also acquired in 3 patients. Superficial blood vessel measurements were obtained by directly placing the probe over cortical vessels exposed during craniotomy and validated against intraoperative photographs. Deep vessels were targeted using preoperative MRI and frameless stereotactic surgical navigation. RESULTS >For the superficial vessel measurements, the probe demonstrated a sensitivity of >88% and specificity >98% for the detection of blood vessels >500microns in diameter. For the deep vessel measurements, the probe was able to detect a blood vessel appropriately on all three occasions. CONCLUSION This pioneering study demonstrates OCT detection of blood vessels in human patients in real-time, integrated with current Neurosurgical practices. This work opens the possibilities of further studies using OCT to detect blood vessels in probe based Neurosurgery to minimise the risk of haemorrhage from such procedures.

scholarly journals QoS Control in Remote Robot Operation with Force Feedback

2021 ◽  
Author(s):  
Pingguo Huang ◽  
Yutaka Ishibashi
Keyword(s):  
Force Feedback ◽  
Industrial Robot ◽  
Force Sensor ◽  
Video Camera ◽  
Haptic Information ◽  
Robot System ◽  
Qos Control ◽  
Stabilization Control ◽  
Robot Systems

Recently, many researchers focus on studies of remote robot operation with force feedback. By using force feedback, since users can touch remote objects and feel the shape, weight, and softness of each object, the efficiency and accuracy of operation can be largely improved. However, when the haptic information such as force and/or position information is transmitted over a QoS (Quality of Service) non-guaranteed network like the Internet, QoE (Quality of Experience) and stability may seriously deteriorate. Therefore, it is important to carry out QoS control and stabilization control together to solve the problems. In this chapter, we mainly focus on QoS control. We also introduce our remote robot system with force feedback which we constructed to study QoS control and stabilization control by experiment. In the system, a user operates a remote industrial robot with a force sensor by using a local haptic interface device while monitoring the robot operation by a video camera. We handle two types of operation; operation with a single remote robot system and that between two remote robot systems. We explain several types of QoS control which we have proposed so far for remote robot operation with force feedback. Finally, we discuss the challenges and future directions of QoS control in remote robot operation with force feedback.

Clinical Renal Function Testing by External Double Isotope Monitoring Technique

1971 ◽  
Vol 10 (01) ◽  
pp. 16-24
Author(s):  
J. Fog Pedersen ◽  
M. Fog Pedersen ◽  
Paul Madsen
Keyword(s):  
Renal Function ◽  
Glomerular Filtration Rate ◽  
Glomerular Filtration ◽  
Plasma Flow ◽  
Filtration Rate ◽  
Renal Plasma Flow ◽  
Correlation Coefficients ◽  
Feedback System ◽  
Effective Renal Plasma Flow ◽  
Advantages And Disadvantages

SummaryAn accurate catheter-free technique for clinical determination simultaneouslyof glomerular filtration rate and effective renal plasma flow by means of radioisotopes has been developed. The renal function is estimated by the amount of radioisotopes necessary to maintain a constant concentration in the patient’s blood. The infusion pumps are steered by a feedback system, the pumps being automatically turned on when the radiation measured over the patient’s head falls below a certain preset level and turned off when this level is again readied. 131I-iodopyracet was used for the estimation of effective renal plasma flow and125I-iothalamate estimation of the glomerular filtration rate. These clearances were compared to the conventional bladder clearances and good correlation was found between these two clearance methods (correlation coefficients 0.97 and.90 respectively). The advantages and disadvantages of this new clearance technique are discussed.

COMPARISON OF ANTIHYPERTENSIVE EFFECT OF MOXONIDINE VERSUS CLONIDINE IN RENAL FAILURE PATIENTS.

2018 ◽  
Vol 6 (9) ◽  
Author(s):  
DR.MATHEW GEORGE ◽  
DR.LINCY JOSEPH ◽  
MRS.DEEPTHI MATHEW ◽  
ALISHA MARIA SHAJI ◽  
BIJI JOSEPH ◽  
...  
Keyword(s):  
Blood Pressure ◽  
Renal Failure ◽  
Blood Flow ◽  
Blood Vessel ◽  
Blood Vessels ◽  
High Blood Pressure ◽  
Antihypertensive Effect ◽  
The Body ◽  
Ability To Work ◽  
Blood Flows

Blood pressure is the force of blood pushing against blood vessel walls as the heart pumps out blood, and high blood pressure, also called hypertension, is an increase in the amount of force that blood places on blood vessels as it moves through the body. Factors that can increase this force include higher blood volume due to extra fluid in the blood and blood vessels that are narrow, stiff, or clogged(1). High blood pressure can damage blood vessels in the kidneys, reducing their ability to work properly. When the force of blood flow is high, blood vessels stretch so blood flows more easily. Eventually, this stretching scars and weakens blood vessels throughout the body, including those in the kidneys.

A Comparative Study of Different Blood Vessel Detection on Retinal Images

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Wan Azani Mustafa ◽  
◽  
Ahmad Syauqi Mahmud ◽  
Muhammad Zaid Aihsan ◽  
M. Saifizi ◽  
...  
Keyword(s):  
Blood Vessel ◽  
Comparative Study ◽  
Retinal Images ◽  
Blood Vessel Detection ◽  
Vessel Detection

scholarly journals Retinal Vessel Segmentation by Deep Residual Learning with Wide Activation

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Yuliang Ma ◽  
Xue Li ◽  
Xiaopeng Duan ◽  
Yun Peng ◽  
Yingchun Zhang
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Area Under The Curve ◽  
Retinal Vessel ◽  
Vessel Segmentation ◽  
Superior Performance ◽  
Retinal Blood Vessel ◽  
Low Contrast ◽  
Blood Vessel Segmentation ◽  
Small Vessels

Purpose. Retinal blood vessel image segmentation is an important step in ophthalmological analysis. However, it is difficult to segment small vessels accurately because of low contrast and complex feature information of blood vessels. The objective of this study is to develop an improved retinal blood vessel segmentation structure (WA-Net) to overcome these challenges. Methods. This paper mainly focuses on the width of deep learning. The channels of the ResNet block were broadened to propagate more low-level features, and the identity mapping pathway was slimmed to maintain parameter complexity. A residual atrous spatial pyramid module was used to capture the retinal vessels at various scales. We applied weight normalization to eliminate the impacts of the mini-batch and improve segmentation accuracy. The experiments were performed on the DRIVE and STARE datasets. To show the generalizability of WA-Net, we performed cross-training between datasets. Results. The global accuracy and specificity within datasets were 95.66% and 96.45% and 98.13% and 98.71%, respectively. The accuracy and area under the curve of the interdataset diverged only by 1%∼2% compared with the performance of the corresponding intradataset. Conclusion. All the results show that WA-Net extracts more detailed blood vessels and shows superior performance on retinal blood vessel segmentation tasks.

scholarly journals A Near‐Infrared Organic Fluorescent Probe for Broad Applications for Blood Vessels Imaging by High‐Throughput Screening via 3D‐Blood Vessel Models (Small Methods 8/2021)

Small Methods ◽  
2021 ◽  
Vol 5 (8) ◽  
pp. 2170036
Author(s):  
Muhammad Asri Abdul Sisak ◽  
Fiona Louis ◽  
Ichio Aoki ◽  
Sun Hyeok Lee ◽  
Young‐Tae Chang ◽  
...  
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Fluorescent Probe ◽  
High Throughput ◽  
High Throughput Screening ◽  
Near Infrared

scholarly journals An in vivo model allowing continuous observation of human vascular formation in the same animal over time

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Yohei Tsukada ◽  
Fumitaka Muramatsu ◽  
Yumiko Hayashi ◽  
Chiaki Inagaki ◽  
Hang Su ◽  
...  
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Human Blood ◽  
Molecular Mechanisms ◽  
Human Tumor ◽  
Continuous Observation ◽  
In Vivo Models ◽  
Cranial Window ◽  
Pathological Conditions

AbstractAngiogenesis contributes to numerous pathological conditions. Understanding the molecular mechanisms of angiogenesis will offer new therapeutic opportunities. Several experimental in vivo models that better represent the pathological conditions have been generated for this purpose in mice, but it is difficult to translate results from mouse to human blood vessels. To understand human vascular biology and translate findings into human research, we need human blood vessel models to replicate human vascular physiology. Here, we show that human tumor tissue transplantation into a cranial window enables engraftment of human blood vessels in mice. An in vivo imaging technique using two-photon microscopy allows continuous observation of human blood vessels until at least 49 days after tumor transplantation. These human blood vessels make connections with mouse blood vessels as shown by the finding that lectin injected into the mouse tail vein reaches the human blood vessels. Finally, this model revealed that formation and/or maintenance of human blood vessels depends on VEGFR2 signaling. This approach represents a useful tool to study molecular mechanisms of human blood vessel formation and to test effects of drugs that target human blood vessels in vivo to show proof of concept in a preclinical model.

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