Novel MEMS stiffness sensor for in-vivo tissue characterization measurement

This paper presents the design, mathematical model, fabrication and testing of a novel type of in-vivo stiffness sensor. The proposed sensor can measure both tissue stiffness and contact force. The sensing concept utilizes multiple membranes with varying stiffness and is particularly designed for integration with minimally invasive surgical (MIS) tools. In order to validate the new sensing concept, MEMS capacitive sensors are fabricated using surface micromachining with each fabricated sensor having a 1mm x 1mm active sensor area. Finally, the sensors are tested by touching polymers of different elastic stiffnesses. The results are promising and confirm the capability of the sensor for measuring both force and tissue compliance.

Ambulatory Device for Urinary Incontinence Detection in Female Athletes

Urinary incontinence (UI) has been known as a prevalent concern among parous and elderly women. However, recent studies have shown an unexpectedly high occurrence of UI in young physically fit female athletes who are actively participating in vigorous physical activities. Those study results motivated us to explore the relationship between daily intensive exercise and the occurrence of UI. As the first step to advance our understanding of this problem, an ambulatory device was developed for recording urological response to the intense force levels to which female athletes are subjected. The device consists of three types of wearable sensors, including 1) a +/– 25g tri-axial accelerometer, 2) a 360° biaxial inclinometer and 3) a urinary leakage detector or ULD. It also contains a compact data logger for real-time data recording with high frequency and precision (125 Hz, 16-bit A/D converter). The accelerometer and inclinometer help to determine the force levels developed in the body during physical activities at which urinary leakage occurs. Two types of ULD sensors have been designed: (1) copper lattice ULD, and (2) thermistor array ULD. Copper lattice ULD senses the UI based on the fact that urine drops reduce the resistance of the copper lattice resulting in a voltage change. The thermistor array ULD makes use of the finding that leaked urine is warmer than the surface of the skin, such that the integrated thermal components respond to urine leakage differently. In addition, a thermoelectric cooler is applied to produce a constant reference temperature. The entire device is small, lightweight, nonintrusive, and can be worn comfortably by subjects on their wrists or low back for at least 3 hours of continuous data recording. The test results from the recruited female athletes show that the three sensors can simultaneously record the intensity of activity and the corresponding urine leakage. However, for the copper lattice ULD, substantial sweat developed during the vigorous activity which produced an artifact and prevented the device from detecting the occurrence of urine leakage. The recently designed thermistor array ULD is less sensitive to sweat, resulting a more reliable sensor than is provided by the copper lattice ULD. The wearable sensor based device enables us to determine if urinary incontinence in female athletes occurs during vigorous physical activities or as a result of the fatigue caused by these activities. This conclusion facilitates the understanding of the mechanism of UI and assists trainers and coaches with the design of an appropriate training program that reduces the occurrence of UI in these female athletes.

Sensitivity of finite helical axis parameters to temporally varying realistic motion utilizing an idealized knee model

Various uses of the screw or helical axis have previously been reported in the literature in an attempt to quantify the complex displacements and coupled rotations of in vivo human knee kinematics. Multiple methods have been used by previous authors to calculate the axis parameters, and it has been theorized that the mathematical stability and accuracy of the finite helical axis (FHA) is highly dependent on experimental variability and rotation increment spacing between axis calculations. Previous research has not addressed the sensitivity of the FHA for true in vivo data collection, as required for gait laboratory analysis. This research presents a controlled series of experiments simulating continuous data collection as utilized in gait analysis to investigate the sensitivity of the three-dimensional finite screw axis parameters of rotation, displacement, orientation and location with regard to time step increment spacing, utilizing two different methods for spatial location. Six-degree-of-freedom motion parameters are measured for an idealized rigid body knee model that is constrained to a planar motion profile for the purposes of error analysis. The kinematic data are collected using a multicamera optoelectronic system combined with an error minimization algorithm known as the point cluster method. Rotation about the screw axis is seen to be repeatable, accurate and time step increment insensitive. Displacement along the axis is highly dependent on time step increment sizing, with smaller rotation angles between calculations producing more accuracy. Orientation of the axis in space is accurate with only a slight filtering effect noticed during motion reversal. Locating the screw axis by a projected point onto the screw axis from the mid-point of the finite displacement is found to be less sensitive to motion reversal than finding the intersection of the axis with a reference plane. A filtering effect of the spatial location parameters was noted for larger time step increments during periods of little or no rotation.

A Motorized Microdrive for Recording of Neural Ensembles in Awake Behaving Rats

The recording of neural ensembles in awake, behaving rats has been an extremely successful experimental paradigm, providing demonstrable scientific advances. Dynamic control of the position of the implanted electrodes is of key importance as mobile electrodes provide a better signal-to-noise ratio and a better cell/electrode yield than nonmobile electrodes. Here we describe the use of low cost, soon to be commercially available dc motors to successfully control the depth of electrodes. The prototype designed is approximately 30mm in diameter and 50mm in length and weighed about 30gms. This paper presents the results of linear displacements of electrodes achievable with this motorized microdrive.

Axial unloading therapy device for cervical spine rehabilitation

There is an ongoing need for therapeutic cervical traction to treat chronic idiopathic neck pain. A device was designed to perform low-load cervical traction (unloading) with the patient in an upright, seated, neutral spine position. A prototype device meeting these requirements was constructed. During subsequent use, several methods for assessing the outcome of such unloading were proposed, including radiographic images, cervical range-of-motion measurements and muscle EMG activity. The prototype and measurement methods were tested on a population of normal subjects. The results demonstrated that the device design is safe and effectively transfers load into the occipital region of the skull. The use of low-load cervical unloading induced lateral rotation and posterior lengthening of the spine. Device refinements were identified. The results demonstrated that the methods described may be safely employed on a patient population.

Microdevices in medicine

The application of microelectromechanical systems (MEMS) to medicine is described. Three types of biomedical devices are considered, including diagnostic microsystems, surgical microsystems, and therapeutic microsystems. The opportunities of MEMS miniaturization in these emerging disciplines are considered, with emphasis placed on the importance of the technology in providing a better outcome for the patient and a lower overall health care cost. Several case examples in each of these areas are described. Key aspects of MEMS technology as it is applied to these three areas are described, along with some of the fabrication challenges.

6R instrumented spatial linkages for anatomical joint motion measurement--Part 2: Calibration

The six-revolute-joint instrumented spatial linkage (6R ISL) is often the measurement system of choice for monitoring motion of anatomical joints. However, due to tolerances of the linkage parameters, the system may not be as accurate as desired. A calibration algorithm and associated calibration device have been developed to refine the initial measurements of the ISL's mechanical and electrical parameters so that the measurement of six-degree-of-freedom motion will be most accurate within the workspace of the anatomical joint. The algorithm adjusts the magnitudes of selected linkage parameters to reduce the squared differences between the six known and calculated anatomical position parameters at all the calibration positions. Weighting is permitted so as to obtain a linkage parameter set that is specialized for measuring certain anatomical position parameters. Output of the algorithm includes estimates of the measuring system accuracy. For a particular knee-motion-measuring ISL and calibration device, several interdependent design parameter relationships have been identified. These interdependent relationships are due to the configuration of the ISL and calibration device, the number of calibration positions, and the limited resolution of the devices that monitor the position of the linkage joints. It is shown that if interdependence is not eliminated, then the resulting ISL parameter set will not be accurate in measuring motion outside of the calibration positions, even though these positions are within the ISL workspace.

6R instrumented spatial linkages for anatomical joint motion measurement--Part 1: Design

Six-revolute-joint instrumented spatial linkages (6R ISLs) have become often-used devices to measure the complete six-degree-of-freedom motion of anatomical joints. Accuracy of motion measurement depends on ISL design and calibration technique. In this paper, a design process is outlined that uses computer graphics and numerical methods as aids in developing 6R ISLs that (i) physically assemble within the desired range of motion of the joint; (ii) do not collide with either the experimental apparatus or the subject joint; (iii) avoid singular linkage configurations that can cause forces to be applied to the joint; and (iv) measure selected anatomical motions most accurately. It is found that a certain subgroup of 6R linkages are suitable for accurate measurement of specific motions, and can be the basis for new ISL designs. General guidelines are developed that can assist in the generation of unique linkage designs for different anatomical joints. The design process is demonstrated in the creation of an ISL to measure knee motion.

CAD/CAM for dental restorations--some of the curious challenges

Computer-aided design and manufacturing for dental restorations has opened a new world of possibilities--some that appeal to engineers and clinicians and some that have created some interesting challenges. The objective of this overview is to briefly describe a system being developed by the Universities of Maryland and Minnesota which is capable of producing dental crowns. Some of the challenges and difficulties that have arisen during the development activities will be addressed. The final focus will be on some of the questions that, because of the new technology, can now be addressed and are presenting new challenges.

Treatment-induced errors in occlusion following orthognathic surgery

Posttreatment occlusion following orthognathic surgery is often different from that predicted in the treatment plan. Differences between intended and actual occlusion may be treatment-induced occlusal errors caused by mismatches between the centers of rotation of the mandible and of the articulated models. Discrepancies in the position of the articulator center of rotation (relative to the position of the center of rotation of the patient's mandible) influence the magnitude of occlusal errors. A computer model was developed to quantify these errors. As the center of rotation of the articulated models becomes more divergent from the patient's center of rotation, the magnitude of the occlusal errors increases. This magnitude increases most rapidly along the line that is perpendicular to the line joining the patient's center of rotation and a preselected mandibular landmark (incisor tip or molar cusp, for instance). For small changes in vertical dimension, clinically insignificant errors result, independent of the degree of mismatch between the centers of rotation. Clinical implications of these findings are discussed.

Working condylar movement and its effects on posterior occlusal morphology

The movement of the mesiolingual cusp of the maxillary left first molar was studied in the frontal and horizontal planes. The movement was studied while varying the top wall, rear wall, and incisal guidance on the articulator. It can be concluded that the top wall inclination may significantly influence movement of the mesisolingual cusp of the maxillary first molar during working mandibular movement, the rear wall inclination has less influence than top wall inclination on cusp movement during a working mandibular movement, and the working side condylar movement should be considered when evaluating or restoring the dentition.

Growth contributions to class II corrections based on models of mandibular morphology

Various morphologies of human models are modeled with various growth patterns to demonstrate the role of mandibular morphology on growth contributions to Class II corrections. Growth patterns are described by centers of mandibular rotation relative to the cranial base. Centers of rotation are used to determine several parameters of growth generated by a computer programmed to show growth effects. The direction and amount of condylar growth are held constant. With condylar growth constant, various centers of rotation of the mandible reveal that maximum Class II molar correction is present when the condyle is vertically located farthest from the molar. Of lesser importance, Class II corrections are greater when the condyle is anteroposteriorly closest to the molar.

Kinematic and Kinetic Analysis of the Human Wrist by Stereoscopic Instrumentation

A three-dimensional kinematic and kinetic analysis of the human wrist can lend useful data to understand carpal mechanics. This data would also be useful in implant design and evaluating surgical reconstructive procedures. A stereoscopic photographic technique using light-emitting diodes (LED’s) is described that records on film three-dimensional relative motion between two bone segments. The LED’s are inserted into the carpal bones at key ligamentous attachments. Kinetic data is generated by use of a force transducer. LED frames are mounted on both sides of the wrist joint and to the calibrated transducer so that the three-dimensional motion and force (moment) information is recorded at the same time. Wrist motion is generated both passively and dynamically by motors attached to the principle wrist tendons. The kinematic and kinetic data, recorded on film, is then digtized and analyzed by computer. Knowledge of the relative three-dimensional motion of the intercarpal and radiocarpal joints and the relative forces that are distributed through the various wrist ligaments will be produced by this instrumentation. Output computer graphics routines, including screw axis data, have been developed.

Mechanics, growth, and class II corrections

Growth of the orofacial region is quantitatively described by locating the center of mandibular rotation relative to the cranial base. The center of mandibular rotation is positioned by the ratio of vertical facial growth (AFH/PFH) and the direction of condylar growth. Appliance therapy is associated with changes in the means of both of these parameters. These changes reduce or stop favorable anterior mandibular rotation and redirect the mean condylar growth vector more posteriorly. When appliance therapy is stopped, these parameters return toward their resting values. The mean direction of the condylar growth vector became even more anteriorly directed after treatment than the pretreatment mean value. These data support the hypothesis that orthodontic appliances significantly alter the facial growth pattern and when they are stopped, the growth pattern tends to rebound to or beyond the pretreatment values.

Kinematics of Jaw Growth

Growth of the human face occurs in unequal amounts at various areas. This results in relative motion of the upper and lower jaws. Relative motion creates changes in facial appearance and dental occlusion. Orthodontic treatment seeks to therapeutically use or alter this relative motion. Most existing orthodontic analyses have interpreted facial growth as translatory in nature. The analysis introduced in this paper is based on applying kinematic fundamentals—that is, poles of rotation and fixed and moving centrodes—as a tool for more accurately analyzing jaw motion. Reliable data is utilized and computer graphics routines are employed to help visualize output data. Several alternative approaches for analyzing relative motion due to jaw growth are presented here indicating the development of this research.

An Approximate Method for the Dynamic Analysis of Elastic Linkages

A new numerical procedure based on an iterative technique is progressively developed in this paper for obtaining an approximate particular solution from the equations of motion of an elastic linkage with small damping and at subresonant speeds. The method is introduced by employing a simple vibrating system, a single degree-of-freedom mass-dashpot-spring model under both harmonic forcing and periodic forcing. A harmonically excited two degree-of-freedom model is also solved by the suggested approach. Error functions are developed for each case to give an estimation of the order of error between the exact analytical solution and the approximate technique. The suggested technique is then extended to solve an elastic linkage problem where the uncoupled equations of motion are treated as a series of single degree-of-freedom problems and solved. These are retransformed into the physical coordinate system to obtain the particular solution. The first and second derivatives of the forcing functions (involving rigid-body inertia) are approximated utilizing the finite difference method.

A General Method for Kineto-Elastodynamic Analysis and Synthesis of Mechanisms

Kineto-elastodynamics is the study of the motion of mechanisms consisting of elements which may deflect due to external loads or internal body forces. This paper describes the initial phases in the development of a general method of kineto-elastodynamic analysis and synthesis based on the flexibility approach of structural analysis, which may be applied to any planar or spatial mechanism. Dynamic error is investigated due to flexural, longitudinal, and torsional element strain, and system inertia fluctuations; the treatment of Coulomb and viscous friction is indicated. Kineto-Elastodynamic Stretch Rotation Operators are derived which will rotate and stretch both planar and spatial link vectors reflecting rigid body motion plus elastic deformations of the link. A numerical example is presented to demonstrate the elastodynamic analysis technique.