Abstract:
:Dexterity of robots is highly required when it comes to integration for medical applications. Major efforts have been conducted to increase the dexterity at the distal parts of medical robots. This paper reports on developments toward integrating biocompatible conducting polymers (CP) into inherently dexterous concentric tube robot paradigm. In the form of tri-layer thin structures, CP micro-actuators produce high strains while requiring less than 1 V for actuation. Fabrication, characterization, and first integrations of such micro-actuators are presented. The integration is validated in a preliminary telescopic soft robot prototype with qualitative and quantitative performance assessment of accurate position control for trajectory tracking scenarios. Further, CP micro-actuators are integrated to a laser steering system in a closed-loop control scheme with displacements up to 5 mm. Our first developments aim toward intracorporeal medical robotics, with miniaturized actuators to be embedded into continuum robots.
journal_name
Ann Biomed Engjournal_title
Annals of biomedical engineeringauthors
Chikhaoui MT,Benouhiba A,Rougeot P,Rabenorosoa K,Ouisse M,Andreff Ndoi
10.1007/s10439-018-2038-2subject
Has Abstractpub_date
2018-10-01 00:00:00pages
1511-1521issue
10eissn
0090-6964issn
1573-9686pii
10.1007/s10439-018-2038-2journal_volume
46pub_type
杂志文章abstract:BACKGROUND:Common-mode noise degrades cardiovascular signal quality and diminishes measurement accuracy. Filtering to remove noise components in the frequency domain often distorts the signal. METHOD:Two adaptive noise canceling (ANC) algorithms were tested to adjust weighted reference signals for optimal subtraction ...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-007-9294-x
更新日期:2007-07-01 00:00:00
abstract::A wide range of length and time scales are relevant to pharmacology, especially in drug development, drug design and drug delivery. Therefore, multiscale computational modeling and simulation methods and paradigms that advance the linkage of phenomena occurring at these multiple scales have become increasingly importa...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章,评审
doi:10.1007/s10439-016-1563-0
更新日期:2016-09-01 00:00:00
abstract::In this study various blood rheological assumptions are numerically investigated for the hemodynamic properties of intra-stent flow. Non-newtonian blood properties have never been implemented in blood coronary stented flow investigation, although its effects appear essential for a correct estimation and distribution o...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-006-9123-7
更新日期:2006-08-01 00:00:00
abstract::Basic fibroblast growth factor (FGF-2) is a potent angiogenic growth factor involved in the development of diseases such as cancer, atherosclerosis, and heart and limb ischemia, as well as normal wound healing and tissue development. Despite being one of the most heavily studied angiogenic growth factors, the binding ...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1023/b:abme.0000030231.88326.78
更新日期:2004-05-01 00:00:00
abstract::As a human grows from birth to adulthood, both airway anatomy and breathing conditions vary, altering the deposition rate and pattern of inhaled aerosols. However, deposition studies have typically focused on adult subjects, results of which may not be readily extrapolated to children. This study numerically evaluated...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-012-0603-7
更新日期:2012-12-01 00:00:00
abstract::The blood-brain barrier (BBB) is a major obstacle for drug delivery to the brain. To seek for in vitro BBB models that are more accessible than animals for investigating drug transport across the BBB, we compared four in vitro cultured cell models: endothelial monoculture (bEnd3 cell line), coculture of bEnd3 and prim...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-010-0023-5
更新日期:2010-08-01 00:00:00
abstract::Tumor vasculature damage induced by various thermal treatments has been studied in vivo via laser confocal microscopy. Murine mammary carcinoma 4T1 was implanted in the nude mice dorsal skin fold window chamber. The implanted tumor was treated by alternate cooling and heating. Results showed that the treatment was muc...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-008-9511-2
更新日期:2008-08-01 00:00:00
abstract::Traditionally, measurement of pulmonary O2 uptake uses mass balance of N2 to correct for differences between inspired and expired volume (V) due to temperature (T) and relative humidity (RH). Often during anesthesia, N2 balance cannot be invoked due to high inspired O2 fraction (FIO2) or nonsteady state conditions. Th...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1114/1.1312184
更新日期:2000-09-01 00:00:00
abstract::An intelligent multichannel stimulator (IMS) has been designed and built for use in a cardiac research environment. The device is capable of measuring and responding to cardiac electrophysiological phenomena in real time with carefully timed and placed electrical stimuli. The system consists of 16 channels of sense/st...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1114/1.1451077
更新日期:2002-02-01 00:00:00
abstract::The effect of hemodynamic shear stress on endothelial gene expression was investigated in the porcine iliac arteries. A novel statistical approach was applied to computational fluid dynamics simulations of the iliac artery flow field to identify three anatomical regions likely to experience high, medium, and low level...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-010-0030-6
更新日期:2010-07-01 00:00:00
abstract::Left ventricular (LV) diastolic filling is limited by the constraining effects exerted by the pericardium (PE) and the lung/chest wall. The aim of the present study was to assess the validity of various estimates of external cardiac constraint, compared to pericardial surface pressure (Ppe) measured lateral to the LV ...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/BF02584288
更新日期:1987-01-01 00:00:00
abstract::Perfusion bioreactors are known to exert shear stresses on cultured cells, leading to cell differentiation and enhanced extracellular matrix deposition on scaffolds. The influence of the scaffold's porous microstructure is investigated for a polycaprolactone (PCL) scaffold with a regular microarchitecture and a silk f...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-014-0981-0
更新日期:2014-05-01 00:00:00
abstract::A number of human head finite element (FE) models have been developed from different research groups over the years to study the mechanisms of traumatic brain injury. These models can vary substantially in model features and parameters, making it important to evaluate whether simulation results from one model are read...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-013-0907-2
更新日期:2014-01-01 00:00:00
abstract::Opportunities to provide clinical immersion experiences to bioengineering undergraduate students have expanded over the last several years. These programs allow students to observe the clinical environment in order to better understand workflow processes, the context in which medical equipment is used, and identify un...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-020-02508-x
更新日期:2020-09-01 00:00:00
abstract::We have developed a method for quantifying the complexity of activation patterns observed during ventricular fibrillation (VF) that is based on our previously reported methodology for decomposing epicardial mapping data into a set of isolated wavefronts. One-half second datasets are acquired from a 21 x 24 array of un...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/BF02684160
更新日期:1997-09-01 00:00:00
abstract::Tissue engineering strategies have utilized a wide spectrum of synthetic and naturally-derived scaffold materials. Synthetic scaffolds are better defined and offer the ability to precisely and reproducibly control their properties, while naturally-derived scaffolds typically have inherent biological and structural pro...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章,评审
doi:10.1007/s10439-014-1192-4
更新日期:2015-03-01 00:00:00
abstract::Due to its unique non-invasive microstructure probing capabilities, diffusion tensor imaging (DTI) constitutes a valuable tool in the study of fiber orientation in skeletal muscles. By implementing a DTI sequence with judiciously chosen directional encoding to quantify in vivo the microarchitectural properties in the ...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-009-9783-1
更新日期:2009-12-01 00:00:00
abstract::In this work, we propose an analog electrical model of the coronary circulation for patients with obstructive disease undergoing revascularization. In this clinical situation, the collateral circulation to the occluded artery is difficult to ascertain via preoperative measurements and well-developed collaterals might ...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-008-9500-5
更新日期:2008-07-01 00:00:00
abstract::The neutrophil has developed into one of the most efficient vertebrate motile cells. It migrates through tissues, where it encounters multiple chemoattractant signals with complex spatial and temporal characteristics. The directional movement of the neutrophil is signaled by the binding of chemoattractants and chemoki...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章,评审
doi:10.1114/1.1477446
更新日期:2002-03-01 00:00:00
abstract::A major benefit of computational modeling in biomechanics research is its ability to estimate internal muscular demands given limited input information. However, several assumptions regarding model parameters and constraints may influence model outputs. This research evaluated the influence of model parameter variabil...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-014-1035-3
更新日期:2014-09-01 00:00:00
abstract::Impedance data, e.g., system responses, from perturbing small amplitude applied sinusoid signals of near DC to high kilohertz frequencies, give chemical information. Analysis of frequency-dependent imaginary and real impedance proceeds from equivalent analog circuit elements to chemical and physical significance deter...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/BF02368537
更新日期:1992-01-01 00:00:00
abstract::The most widely implanted prosthetic valve is the mechanical bileaflet. Recent clinical experiences suggest that some designs are more prone to thromboembolic episodes than others. This study evaluated the hinge flow and near-field forward flow of the new St. Jude Medical Regent bileaflet mechanical heart valve. Laser...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1114/1.297
更新日期:2000-05-01 00:00:00
abstract::This study was aimed at developing a physical model, supported by experimental observations, to describe the formation and growth of microbubbles seen in patients with mitral mechanical heart valves (MHV). This phenomenon, often referred to as high intensity transient signals (HITS), appears as bright, intense, high-v...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1114/1.231
更新日期:1999-11-01 00:00:00
abstract::In this paper, a novel cell stretcher design that mimics the real-time stretch of the heart wall is introduced. By culturing cells under stretched conditions that mimics the mechanical aspects of the native cardiac environment, better understanding on the role of biomechanical signaling on cell development can be achi...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-014-0976-x
更新日期:2014-05-01 00:00:00
abstract::The responses of photoreceptor cells to moving stimuli are crucial to understanding motion detection in visual systems. However, these responses are not well characterized quantitatively because they result from a combination of spatial optical behavior in the lens systems with temporal behavior in the phototransducti...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1114/1.58
更新日期:1998-03-01 00:00:00
abstract::This study was undertaken to investigate the possible origin of some cutaneously recorded higher frequency electrogastrographic signals. Computer modeling of gastric electrical uncoupling was performed using previously described conoidal dipole model. Cutaneous electrogastrograms were simulated after uncoupling was in...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:
更新日期:1997-11-01 00:00:00
abstract::The purpose of the study was to examine the effects of arterial coculture conditions on the transport properties of several in vitro endothelial cell (EC)-smooth muscle cell (SMC)-porous filter constructs in which SMC were grown to confluence first and then EC were inoculated. This order of culturing simulates the env...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-015-1421-5
更新日期:2016-05-01 00:00:00
abstract::In uniaxial tensile testing, load preconditioning is used to generate repeatable load/elongation curves and set a "reference state" for subsequent tensile tests. We have observed however, that for porcine aortic valve (PAV) tissues, preconditioning does not lead to repeatable stress relaxation curves. We thus investig...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1023/b:abme.0000019176.49650.19
更新日期:2004-04-01 00:00:00
abstract::Although diagnostic testing with auditory evoked potentials (EPs) has become routine, quantitative measurements of signal and noise are still lacking. In this study, current signal, power, noise power, and signal-to-noise ratio (SNR) estimation formulas are reviewed and applied to auditory brainstem response averaging...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/BF02684183
更新日期:1996-11-01 00:00:00
abstract::While viscoelastic responses of isolated trunk soft tissues have been characterized in earlier studies, the effects of external loading and flexion rate on these responses in the intact human trunk are largely unknown. Two experiments were conducted to measure trunk viscoelastic behaviors, one involving prolonged flex...
journal_title:Annals of biomedical engineering
pub_type: 杂志文章
doi:10.1007/s10439-013-0797-3
更新日期:2013-06-01 00:00:00