Development of Neonatal Airway Management Simulator for Evaluation of Tracheal Intubation.

The long-term goal of this study is a training system that can simulate medical cases and advise physicians based on quantitative evaluation of neonatal resuscitation. In this paper, we designed and manufactured a neonatal airway management simulator for quantitative evaluation of tracheal intubation. This robotic simulator is equipped with 25 sensors of 6 types, which detect motions that lead to complications, inside the manikin replicated a neonate. A performance experiment of the developed sensor and an evaluation experiment with physicians were conducted. We observed that an erroneous operation in the laryngoscopy can be detected by the sensors in our simulator.

Knee extensor muscular activity estimation during different walking patterns: flat normal and brisk walking, stair climbing.

Preserving mobility, the ability to keep a correct posture and dynamic balance in order to walk properly, is fundamental to maintain autonomy in daily life. Based on the correlation between muscle groups and autonomy, previous research has suggested that maintaining muscular tone in knee extensors is critical. Continuous training of knee extensors during aging is therefore essential to maintain independence. In this work, it is hypothesized that it is possible to estimate knee extensor activity only from IMU data based on a simple lower limbs model. The accuracy of the knee extensor activity estimation algorithm has been tested using sEMG measurements as control data on three different walking patterns: normal walk, fast walk and stair climbing. Estimated knee torque area and measured muscular activity for each step were compared confirming a high estimation accuracy with a correlation efficient R=0.80. Moreover, muscular activity can be divided based on intensity in three groups of statistically significant difference confirmed by the Steel-Dwass method. Future works should test the usability of the algorithm for different walking patterns, and use the collected data and the refined algorithm to implement a smart resistive device to increase knee extensor exertion during each walking pattern to the level necessary for sufficient extensor training.

Angular sway propagation in One Leg Stance and quiet stance with Inertial Measurement Units for older adults.

Postural stability degrades with age, threating the health and life quality of the older adults. One Leg Stance (OLS) is one of the standard and commonly adopted assessments for postural stability, and the postural sway in OLS has been demonstrated to be related with age. The propagation of postural sway between body segments could be a hint to the underlying mechanism of balance control. However, it is not yet fully understood. Therefore, the aim of this paper was to study the angular sways and their propagation of the head, trunk, and lower limb in healthy older adults. A cross-correlation of the normalized angular speeds was performed and the experiment with 68 older adults was conducted. The results showed that the head, hip and ankle joints affected the transfer of angular sway with a relatively lower correlation and longer latency.

Development of new muscle contraction sensor to replace sEMG for using in muscles analysis fields.

Nowadays, the technologies for detecting, processing and interpreting bioelectrical signals have improved tremendously. In particular, surface electromyography (sEMG) has gained momentum in a wide range of applications in various fields. However, sEMG sensing has several shortcomings, the most important being: measurements are heavily sensible to individual differences, sensors are difficult to position and very expensive. In this paper, the authors will present an innovative muscle contraction sensing device (MC sensor), aiming to replace sEMG sensing in the field of muscle movement analysis. Compared with sEMG, this sensor is easier to position, setup and use, less dependent from individual differences, and less expensive. Preliminary experiments, described in this paper, confirm that MC sensing is suitable for muscle contraction analysis, and compare the results of sEMG and MC sensor for the measurement of forearm muscle contraction.

Application of wireless inertial measurement units and EMG sensors for studying deglutition - Preliminary results.

Different types of sensors are being used to study deglutition and mastication. These often suffer from problems related to portability, cost, reliability, comfort etc. that make it difficult to use for long term studies. An inertial measurement based sensor seems a good fit in this application; however its use has not been explored much for the specific application of deglutition research. In this paper, we present a system comprised of an IMU and EMG sensor that are integrated together as a single system. With a preliminary experiment, we determine that the system can be used for measuring the head-neck posture during swallowing in addition to other parameters during the swallowing phase. The EMG sensor may not always be a reliable source of physiological data especially for small clustered muscles like the ones responsible for swallowing. In this case, we explore the possibility of using gyroscopic data for the recognition of deglutition events.

Use of an ultra-miniaturized IMU-based motion capture system for objective evaluation and assessment of walking skills.

The increasing age of the world population is posing new challenges to our society, such as how to keep this aging population healthy and active despite of the age. In recent years, there has been a lot of interest for gait analysis for rehabilitation purposes as well as for performance assessment of this aging population. While current systems work well, they still have several limitations. Cost, need for specialized personnel, need to be used in a research center, and sporadic measurement prevent these systems from being widely used. The authors propose the use of extremely miniaturized, portable measurement systems, which can be worn by the users during their everyday life, and can monitor their gait over a long timespan. This paper presents the preliminary experiments with such a system.

Biomechanical evaluation of the phases during simulated endotracheal intubation (ETI): pilot study on the effect of different laryngoscopes.

Endotracheal Intubation (ETI) is a common airway procedure used to connect the larynx and the lungs through a windpipe in patients under emergency situations. The process is carried out by a laryngoscope inserted into the mouth, used to help doctors in visualizing the glottis and inserting the tube. Currently, very few studies on objective evaluation of the biomechanics of the doctors during the procedure have been done. Additionally, these studies have been concentrated only on the overall performance analysis, without any segmentation, with a consequent loss of important information. In this paper, the authors present a preliminary study on a methodology to objectively evaluate and segment the biomechanical performance of doctors during the ETI, using surface electromyography and inertial measurement units. In particular, the validation has been performed by comparing three kinds of laryngoscopes involving an expert doctor. Finally, results are presented and commented.

Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning.

PURPOSE: Fibre optic colonoscopy is usually performed with manual introduction and advancement of the endoscope, but there is potential for a robot capable of locomoting autonomously from the rectum to the caecum. A prototype robot was designed and tested. METHODS: The robot colonic endoscope consists in a front body with clockwise helical fin and a rear body with anticlockwise one, both connected via a DC motor. Input voltage is adjusted automatically by the robot, through the use of reinforcement learning, determining speed and direction (forward or backward). RESULTS: Experiments were performed both in-vitro and in-vivo, showing the feasibility of the robot. The device is capable of moving in a slippery environment, and reinforcement learning algorithms such as Q-learning and SARSA can obtain better results than simply applying full tension to the robot. CONCLUSIONS: This self-propelled robotic endoscope has potential as an alternative to current fibre optic colonoscopy examination methods, especially with the addition of new sensors under development.

Workspace analysis and design improvement of a carotid flow measurement system.

Heart and cerebrovascular diseases such as arteriosclerosis and myocardial ischemia dysfunction are currently among the main causes of death in developed countries. Recently, wave intensity (WI), which is an index used to obtain the force of cardiac contraction, has been investigated as a method for early-stage diagnosis of the above-mentioned diseases. Nevertheless, experimental tests have proven that the manual measurements of WI by means of commercial ultrasonic diagnostic systems require too much time and can be affected by the operator's skills. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, the development of a carotid blood flow measurement system has been proposed to support doctors while using ultrasound diagnostic equipment to measure the WI. This robotic system is composed of a serial robot with a wrist having a six-degree-of-freedom (6-DOF) parallel mechanism. The main focus is to obtain a suitable workspace performance of the 6-DOF parallel mechanism wrist. In this paper, a workspace analysis is carried out on a wrist prototype built for the Waseda-Tokyo Women's Medical Aloka Blood Flow Measurement System No.1 Refined (WTA-1R). Then, mechanical design enhancements are proposed and validated to provide a suitable workspace performance both as reachable workspace and dexterity, and a refined prototype WTA-1RII has been built.

Development of a robotic endoscope that locomotes in the colon with flexible helical fins.

The purpose of this study was to develop a robotic endoscope that is low invasive, easy to operate and capable of locomotion from the rectum to the appendix in the human body. We believe that it would contribute to relieving pain in patients. We therefore developed a robotic endoscope that consists of a front and rear body with clockwise and anticlockwise helical fins, respectively. The front and rear bodies are connected via a DC motor. This robot moves forward in the colon by rotating the front body in the clockwise direction and the rear body in the anticlockwise direction. In addition, the radius of each helical fin can be changed by blowing air into a balloon implemented under each fin using an air compressor. Before experiments with animals, we performed experiments to evaluate the mechanical performance and safety of the robot. We confirmed that the maximum radius of the fins was less than the maximum radius of the colon by blowing air continuously into the balloons. We then confirmed that the robot can locomote in the colon without invasion of scratch and make short hole by performing an in-vivo experiment in live swine.

Objective skill analysis and assessment in neurosurgery by using an ultra-miniaturized inertial measurement unit WB-3--pilot tests.

In recent years there has been an ever increasing amount of research and development of technologies and methods to improve the quality and the performance of advanced surgery. In several fields, such as laparoscopy, various training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess her/his skills. For neurosurgery, however, the extremely small movements and target operating space involved have prevented until now the development of similar methodologies and systems. In this paper we present the development of an ultra-miniaturized Inertial Measurement Unit (IMU) and its application for neurosurgery skill assessment in a simple pick and place scenario. This analysis is a preliminary yet fundamental step to realize a better training/evaluation system for neurosurgeons, and to objectively evaluate and understand how the neurosurgery is performed.

Modeling of structure, quality, and function in the orthodontic patient.

The advantages of three-dimensional (3-D) imaging technology and solid modeling make it possible to visualize the morphological information. However, lacking in this 'digital patient' is the motion and mechanical properties observed in the living patient. Functional diagnostic techniques such as electromyography and motion analysis could complement the morphological characteristics to be applied in orthodontics. In this review, new computer-assisted analyzing methods are introduced which include visualization of: 1) the 3-D structure and bone density distribution; 2) masticatory-generated forces by using automated finite element modeling (FEM); and 3) the 3-D jaw movement and its motion analysis. In each study, the data from X-ray computed tomography scanning, electromyograms, biting pressure, and digital jaw movement analysis (six axes) are used for calculation. By using these applications, growing changes in bone mineral density distribution of the mandibular cortical bone have been clarified, automated finite element modeling has indicated stress distribution in the craniofacial skeleton, and patient-specific 3-D images of the mandible have been depicted as a motion picture. These studies were completed in 124 living subjects (75 females, 49 males) between 8 and 33 years of age. From these results, malfunctions during mastication were evaluated clearly with the individual patient craniofacial structures and its characteristics. These computer-based visualization techniques can be used to derive much clinically useful information, and to improve the combined evaluation of both static characteristics and dynamic function.

Computer-assisted simulations in orthodontic diagnosis and the application of a new cone beam X-ray computed tomography.

Computational simulations which include three-dimensional (3-D) image processing and biomechanical calculations should provide useful information to our research and orthodontic clinic as a clinical tool defined as 'thinking'. In this review, 1) biomechanical simulations applied to predict the mandibular growth; 2) mathematical models of virtual bone cells and 3) 3-D images and solid model simulations for surgical planning are introduced. In biomechanical simulation, biting force, electromyographic (EMG) activity and cephalograms of 32 subjects were applied. Computational results of mathematical model were compared with actual bone growth in a rat. Three-dimensional image and solid model of 14 patients were utilized for their treatment planning. From the results, several concepts of our simulations were confirmed: 1) reaction forces generated by masticatory muscles at the condyle control the direction of mandibular growth; 2) some mathematical models have the possibility to describe the process of bone growth; 3) 3-D image processing software and solid models are necessary for diagnosis and planning of orthognathic surgery. We also believe that the orthodontists can more accurately predict the affects of surgical procedures and orthodontic tooth movement using the new cone beam X-ray computed tomography (CT) (CB MercuRay; Hitachi Medico Technology, Tokyo, Japan) and its advanced application software.

Measurement of mechanical strain on mandibular surface with mastication robot: influence of muscle loading direction and magnitude.

OBJECTIVES: To investigate the mechanical effects of mastication on the mandible, we developed computational controlled mastication robot system with human dry skull and analyzed the strain distribution on the mandibular bone surface. DESIGN: In the mastication robot, the mandible was suspended by eight wires, which simulated masticatory muscles. A non-linear spring damper generated viscoelastic properties, and tension sensors for simulation of jaw reflection to avoid unusual biting force were applied as a biological feedback mechanism. By using this robot system, various patterns of muscle loading (change of wire direction and magnitude) were performed. RESULTS: From the results, significant differences in the amount of principal strain and its distribution were demonstrated in each condition (ANOVA, post hoc test, and p < 0.05). The value of maximum principal strain ranged from 79.66 x 10(-6) [at anterior border of ramus (Buccal side), 128 N] to -1.42 x 10(-6) [at foramen mentale (Buccal side), 32 N]. CONCLUSION: These results suggested that the muscle loading generated the mechanical strain on the mandibular bone surface and it was affected by the changes in loading direction and magnitude.