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Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots

Mohamed Taha Chikhaoui, Amine Benouhiba, Patrick Rougeot, Kanty Rabenorosoa, Morvan Ouisse, Nicolas Andreff
2018 Annals of Biomedical Engineering  
The integration is validated in a preliminary telescopic soft robot prototype with accurate position control with trajectory tracking scenarios.  ...  This paper reports on developments towards integrating biocompatible conducting polymers into inherently dexterous concentric tube robot paradigm.  ...  Figure 1 : 1 Concept of a continuum robot founded on concentric tube paradigm with variable curvatures using soft micro-actuators based on EAP.  ... 
doi:10.1007/s10439-018-2038-2 pmid:29713830 fatcat:vdlbvm54ffgqnpfg6mwdc25fje

Steerable OCT catheter for real-time assistance during teleoperated endoscopic treatment of colorectal cancer

Oscar Caravaca Mora, Philippe Zanne, Lucile Zorn, Florent Nageotte, Natalia Zulina, Sara Gravelyn, Paul Montgomery, Michel de Mathelin, Bernard Dallemagne, Michalina Gora
2019 Biomedical Optics Express  
Once inserted in one of the side channels of the robotized endoscope, bending, rotation and translation of the steerable OCT instrument can be controlled by a physician using a joystick.  ...  Ex vivo and in vivo tests show that the novel, steerable and teleoperated OCT device enhances dexterity, allowing for inspection of the surgical field without the need for changing the position of the  ...  Disclosures The authors declare that there are no conflicts of interest related to this article.  ... 
doi:10.1364/boe.381357 pmid:32206405 pmcid:PMC7075597 fatcat:g67zt3maubff7efzelmri453ei

Machine-assisted cultivation and analysis of biofilms [article]

Silla H. Hansen, Tobias Kabbeck, Carsten P. Radtke, Susanne Krause, Eva Krolitzki, Theo Peschke, Jannis Gasmi, Kersten S. Rabe, Michael Wagner, Harald Horn, Juergen Hubbuch, Johannes Gescher (+1 others)
2017 bioRxiv   pre-print
Biofilms are the natural form of life of the majority of microorganisms.  ...  These multispecies consortia are intensively studied not only for their effects on health and environment but also because they have an enormous potential as tools for biotechnological processes.  ...  Acknowledgements We acknowledge financial support of this work by the Helmholtz program BioInterfaces in Technology and Medicine. Author Contributions  ... 
doi:10.1101/210583 fatcat:tiwpaxjmnfbjvadk7nc7pjlogq

Monitoring Bone Density from Patients Undergoing Total Hip Arthroplasty using Computed Tomography and 3D Modeling Techniques

Paolo Gargiulo, Benedikt Helgasson, Benedikt Magnússon, Benedikt Magnússon, Throstur Pétursson, Gianluca Mario Izzo, Gígja Magnúsdóttir, Grétar Halldórsson, Jan Tribel, Halldor Jónsson
2013 Biomedical Engineering  
This loop also generates reference velocities for the three omnidirectional wheels of the robot that are feedback controlled by individual digital controllers on a inner loop level.  ...  In this report our first preliminary results of such an electromechanical EVD applied in a porcine animal model are presented.  ...  Bibliography Bibliography Acknowledgement The authors express their gratitude for the financial support of the BMBF, the support of Sensirion AG and of our project partner Reco Medizintechnik Wolfgang  ... 
doi:10.1515/bmt-2013-4419 pmid:24043205 fatcat:xfgrygcc7nbfjn3klugoy7rjrm

Starbugs: focal plane fiber positioning technology

Michael Goodwin, Jeroen Heijmans, Ian Saunders, Jurek Brzeski, Will Saunders, Rolf Muller, Roger Haynes, James Gilbert
2010 Modern Technologies in Space- and Ground-based Telescopes and Instrumentation  
The Starbugs concept overcomes many of the limitations associated with the traditional 'pick and place' positioners where a robot places fixed buttons onto the field plate.  ...  We report on the technological achievements of our latest Starbug prototypes and their implications for smart focal plane fiber positioning applications for wide-field astronomy.  ...  For comparison, the 2dF robot requires of order one hour to position all 400 fibers on its focal surface whereas an equivalent Starbug-based positioner would be expected to have a typical field configuration  ... 
doi:10.1117/12.856777 fatcat:pg4mn5ybxrbndpljzckheiexvy

Flexible robotic device for spinal surgery

Samir Morad, Christian Ulbricht, Paul Harkin, Justin Chan, Kim Parker, Ravi Vaidyanathan
2014 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)  
The constraint controller and the inverse kinematics relations are both incorporated into the overall positional control structure of the robot, and have successfully established a haptic feedback controller  ...  The focus of this thesis is the development of a flexible robotic surgical cutting device capable of manoeuvring around the spinal column.  ...  The group provided a framework for the design and kinematic modelling of concentric-tube robots ( Figure 11 ) that enables accurate real-time position control.  ... 
doi:10.1109/robio.2014.7090336 dblp:conf/robio/MoradUHCPV14 fatcat:dypi4mlbcjbmxat2qcy2pqienu

EvoBot: An Open-Source, Modular, Liquid Handling Robot for Scientific Experiments

Faiña, Nejatimoharrami, Stoy
2020 Applied Sciences  
functionality is increased one module at a time with a significant amount of reuse.  ...  In order to address it, we have developed EvoBot, a liquid handling robot, which is open-source and employs a modular design.  ...  Conflicts of Interest: A.F., F.N., and K.S. are authors of patent application PCT/DK2017/050079. A.F. and K.S. are co-founders of Flow Robotics A/S.  ... 
doi:10.3390/app10030814 fatcat:ycwuh3ojbna7ja22feevwxndqq

Front Matter: Volume 10135

2017 Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling  
using a Base 36 numbering system employing both numerals and letters.  ...  A unique citation identifier (CID) number is assigned to each article at the time of publication.  ...  NOVEL ROBOTS AND ROBOTIC PROCEDURES 10135 10 Co-robotic ultrasound imaging: a cooperative force control approach [10135-35] 10135 11 Concentric agonist-antagonist robots for minimally invasive  ... 
doi:10.1117/12.2277134 dblp:conf/miigp/X17 fatcat:inrmsopsvfd47nfo35fhucwcmq

Hexabundles: imaging fibre arrays for low-light astronomical applications

Joss Bland-Hawthorn, Julia Bryant, Gordon Robertson, Peter Gillingham, John O'Byrne, Gerald Cecil, Roger Haynes, Scott Croom, Simon Ellis, Martin Maack, Peter Skovgaard, Danny Noordegraf (+3 others)
2010 Ground-based and Airborne Instrumentation for Astronomy III  
Downloaded from SPIE Digital Library on 13 Oct 2010 to  ...  Terms of Use: Proc. of SPIE Vol. 7735 773541-2 Downloaded from SPIE Digital Library on 13 Oct 2010 to Terms of Use:  ...  Preliminary measurements. For the bundle tests, we used an ASE source based on Er-doped fibre.  ... 
doi:10.1117/12.856345 fatcat:hydporitfred5dreeizm2xodha

2019-2020 Index IEEE Transactions on Industrial Electronics Vol. 67

2020 IEEE transactions on industrial electronics (1982. Print)  
, Implementation, and Evaluation of a Neural-Network-Based Quadcopter UAV System; TIE March 2020 2076-2085 Jiang, J., Mohagheghi, A., and Moallem, M., Energy-Efficient Supplemental LED Lighting Control  ...  on Optimized Sparse Partial Least Squares; TIE May 2020 4098-4107 Jiang, S., Li, L., Xu, H., Xu, J., Gu, G., and Shull, P.B., Stretchable e-Skin Patch for Gesture Recognition on the Back of the Hand;  ...  ., +, TIE Oct. 2020 8555-8565 Finite-Time Control of a Linear Motor Positioner Using Adaptive Recursive Terminal Sliding Mode.  ... 
doi:10.1109/tie.2020.3045338 fatcat:gljm7ngg3fakvmnfswcbb5vwiu

Towards a discretely actuated steerable cannula for diagnostic and therapeutic procedures

Elif Ayvali, Chia-Pin Liang, Mingyen Ho, Yu Chen, Jaydev P Desai
2012 The international journal of robotics research  
A pulse width modulation(PWM)-based control scheme was implemented to control all SMA actuators simultaneously to enable multiple joint motion using a single power supply.  ...  The proposed controller was validated through an experiment inside gelatin to mimic the motion of the cannula inside a medium which requires a significant amount of force to move the joints of the cannula  ...  Acknowledgments This work was supported in part by the National Science Foundation (NSF) grant 0704138, 2011 UMCP-UMB research seed grant program, and the National Institutes of Health (NIH) grant R01EB008713  ... 
doi:10.1177/0278364912442429 pmid:22639482 pmcid:PMC3359092 fatcat:2fyw27al6nfhpio72vpe5r7qqa

Enrichment of phosphate-accumulating organisms (PAOs) in a microfluidic model biofilm system by mimicking a typical aerobic granular sludge feast/famine regime

Edina Klein, Janek Weiler, Michael Wagner, Minja Čelikić, Christof M. Niemeyer, Harald Horn, Johannes Gescher
2022 Applied Microbiology and Biotechnology  
Here, we introduce a model system for aerobic granular sludge on a small scale by using a machine-assisted microfluidic cultivation platform.  ...  Sampling during ongoing anoxic cultivation directly from the cultivation channel was achieved with a robotic sampling device.  ...  OCT images were captured at three different positions (see Fig. 1 ) using a GANYMEDE-II spectral domain system (Thorlabs GmbH, Dachau, Germany) with an LSM04 objective lens.  ... 
doi:10.1007/s00253-022-11759-8 pmid:35032186 pmcid:PMC8816403 fatcat:eaem2nr2wnfolmk5lyzkwh2wmy

Verification tests of automated robotic assembly of space truss structures

Marvin D. Rhodes, Ralph W. Will, Cuong C. Quach
1995 Journal of Spacecraft and Rockets  
The hardware consists of the following: a robot arm mounted on a Cartesian motion-base system to permit positioning of the base of the robot and transport of components, the truss structure with attached  ...  Also, the robot arm path-control logic and a motion-base collision-control algorithm are located on the workstation processor.  ... 
doi:10.2514/3.26670 fatcat:wyghymyxbbhtlnxzyf6eokwvge

Isolation and genome-wide expression and methylation characterization of CD31+ cells from normal and malignant human prostate tissue

Wei Luo, Hu Qiang, Dan Wang, Kristin K Deeb, Yingyu Ma, Carl D Morrison, Song Liu, Candace S Johnson, Donald L Trump
2013 OncoTarget  
We then conducted a pilot study of transcriptome and methylome analysis of TdECs and matched NdECs from patients with prostate cancer.  ...  We established a method for isolation of CD31 + endothelial cells from malignant and normal prostate tissues obtained at prostatectomy.  ...  HUVECs were used as a positive control for tube formation.  ... 
doi:10.18632/oncotarget.1269 pmid:23978847 pmcid:PMC3824530 fatcat:fsubr5olszhzrnwjb2wr7urn7y

Development and Validation of Multiplex Quantitative PCR Assay for Detection of Helicobacter pylori and Mutations Conferring Resistance to Clarithromycin and Levofloxacin in Gastric Biopsy

Hasyanee Binmaeil, Alfizah Hanafiah, Isa Mohamed Rose, Raja Affendi Raja Ali
2021 Infection and Drug Resistance  
The optimized multiplex qPCR assay was performed on 571 gastric biopsies.  ...  In this study, 14.7% (84/571) of the gastric biopsies were positive for H. pylori by conventional methods and 23.8% (136/571) were positive by the ureA-qPCR with 96.4% sensitivity and 88.5% specificity  ...  A great thank to the supporting staffs at Department of Medical Microbiology and Immunology, Faculty of Medicine, UKM for their technical support during the study. We would also like to thank Dr.  ... 
doi:10.2147/idr.s325056 pmid:34675558 pmcid:PMC8502538 fatcat:gqgsddgm5jdwpe57shyufugvqq
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