A Biomechanics-Aware Robot-Assisted Steerable Drilling Framework for Minimally Invasive Spinal Fixation Procedures.

In this paper, we propose a novel biomechanics-aware robot-assisted steerable drilling framework with the goal of addressing common complications of spinal fixation procedures occurring due to the rigidity of drilling instruments and implants. This framework is composed of two main unique modules to design a robotic system including (i) a Patient-Specific Biomechanics-aware Trajectory Selection Module used to analyze the stress and strain distribution along an implanted pedicle screw in a generic drilling trajectory (linear and/or curved) and obtain an optimal trajectory; and (ii) a complementary semi-autonomous robotic drilling module that consists of a novel Concentric Tube Steerable Drilling Robot (CT-SDR) integrated with a seven degree-of-freedom robotic manipulator. This semi-autonomous robot-assisted steerable drilling system follows a multi-step drilling procedure to accurately and reliably execute the optimal hybrid drilling trajectory (HDT) obtained by the Trajectory Selection Module. Performance of the proposed framework has been thoroughly analyzed on simulated bone materials by drilling various trajectories obtained from the finite element-based Selection Module using Quantitative Computed Tomography (QCT) scans of a real patient's vertebra.

Comparative evaluation of different spinal stability metrics.

Direct in vivo measurements of spinal stability are not possible, leaving computational estimations (such as dynamic time series and structural analyses) as the feasible option. However, differences between different stability assessment approaches and metrics remain unclear. To explore this, we asked 32 participants to perform 35 cycles of repetitive lifts with and without load (4/2.6 kg for males/females). EMG signals and 3D kinematics were collected via 12 surface electrodes and 17 inertial sensors, and three dynamical stability measures were computed: short and long temporal and conventional maximum Lyapunov exponents (LyE) and maximum Floquet multipliers (FM). A dynamic subject-specific EMG-assisted musculoskeletal model computed four structural stability measures (critical muscle stiffness coefficient at which spine becomes unstable, average spine stiffness, minimum and geometric average of Hessian matrix eigenvalues). Across cycles, dynamical and structural stability outcomes varied noticeably. Temporal short-term LyE and all structural stability measures were more influenced by the cycle percentage (posture factor) than by phase (lifting, lowering) or load factor. The effect of all factors were non-significant for FM and long LyE, except for the posture on LyE-L with a small effect size. Pearson's correlations revealed a weak to moderate, or non-existent, correlation between structural and dynamical stability metrics, with small shared variances, underscoring their distinct and independent nature and theoretical foundations. Moreover, the low sensitivity of dynamic measures to posture and load factors, found in this study, calls for further examination. Considering the limitations and shortcomings of both dynamical and structural stability assessment approaches, there is a need for the development of improved musculoskeletal stability evaluation techniques.

Validation of an EMG submaximal method to calibrate a novel dynamic EMG-driven musculoskeletal model of the trunk: Effects on model estimates.

BACKGROUND: Multijoint EMG-assisted optimization models are reliable tools to predict muscle forces as they account for inter- and intra-individual variations in activation. However, the conventional method of normalizing EMG signals using maximum voluntary contractions (MVCs) is problematic and introduces major limitations. The sub-maximal voluntary contraction (SVC) approaches have been proposed as a remedy, but their performance against the MVC approach needs further validation particularly during dynamic tasks. METHODS: To compare model outcomes between MVC and SVC approaches, nineteen healthy subjects performed a dynamic lifting task with two loading conditions. RESULTS: Results demonstrated that these two approaches produced highly correlated results with relatively small absolute and relative differences (<10 %) when considering highly-aggregated model outcomes (e.g. compression forces, stability indices). Larger differences were, however, observed in estimated muscle forces. Although some model outcomes, e.g. force of abdominal muscles, were statistically different, their effect sizes remained mostly small (ηG2 ≤ 0.13) and in a few cases moderate (ηG2 ≤ 0.165). CONCLUSION: The findings highlight that the MVC calibration approach can reliably be replaced by the SVC approach when the true MVC exertion is not accessible due to pain, kinesiophobia and/or the lack of proper training.

Submaximal electromyography-driven musculoskeletal modeling of the human trunk during static tasks: Equilibrium and stability analyses.

Conventional electromyography-driven (EMG) musculoskeletal models are calibrated during maximum voluntary contraction (MVC) tasks, but individuals with low back pain cannot perform unbiased MVCs. To address this issue, EMG-driven models can be calibrated in submaximal tasks. However, the effects of maximal (when data points include the maximum contraction) and submaximal calibration techniques on model outputs (e.g., muscle forces, spinal loads) remain yet unknown. We calibrated a subject-specific EMG-driven model, using maximal/submaximal isometric contractions, and simulated different independent tasks. Both approaches satisfactorily predicted external moments (Pearson's correlation ∼ 0.75; relative error = 44%), and removing calibration tasks under axial torques markedly improved the model performance (Pearson's correlation âˆ¼ 0.92; relative error âˆ¼ 28%). Unlike individual muscle forces, gross (aggregate) model outputs (i.e., spinal loads, stability index, and sum of abdominal/back muscle forces) estimated from maximal and submaximal calibration techniques were highly correlated (r > 0.78). Submaximal calibration method overestimated spinal loads (6% in average) and abdominal muscle forces (11% in average). Individual muscle forces estimated from maximal and submaximal approaches were substantially different; however, gross model outputs (especially internal loads and stability index) remained highly correlated with small to moderate relative differences; therefore, the submaximal calibration technique can be considered as an alternative to the conventional maximal calibration approach.

Modeling of human intervertebral disc annulus fibrosus with complex multi-fiber networks.

Collagen fibers within the annulus fibrosus (AF) lamellae are unidirectionally aligned with alternating orientations between adjacent layers. AF constitutive models often combine two adjacent lamellae into a single equivalent layer containing two fiber networks with a crisscross pattern. Additionally, AF models overlook the inter-lamellar matrix (ILM) as well as elastic fiber networks in between lamellae. We developed a nonhomogenous micromechanical model as well as two coarser homogenous hyperelastic and microplane models of the human AF, and compared their performances against measurements (tissue level uniaxial and biaxial tests as well as whole disc experiments) and seven published hyperelastic models. The micromechanical model had a realistic non-homogenous distribution of collagen fiber networks within each lamella and elastic fiber network in the ILM. For small matrix linear moduli (<0.2 MPa), the ILM showed substantial anisotropy (>10%) due to the elastic fiber network. However, at moduli >0.2 MPa, the effects of the elastic fiber network on differences in stress-strain responses at different directions disappeared (<10%). Variations in sample geometry and boundary conditions (due to uncertainty) markedly affected stress-strain responses of the tissue in uniaxial and biaxial tests (up to 16 times). In tissue level tests, therefore, simulations should represent testing conditions (e.g., boundary conditions, specimen geometry, preloads) as closely as possible. Stress/strain fields estimated from the single equivalent layer approach (conventional method) yielded different results from those predicted by the anatomically more accurate apparoach (i.e., layerwise). In addition, in a disc under a compressive force (symmetric loading), asymmetric stress-strain distributions were computed when using a layerwise simulation. Although all developed and selected published AF models predicted gross compression-displacement responses of the whole disc within the range of measured data, some showed excessively stiff or compliant responses under tissue-level uniaxial/biaxial tests. This study emphasizes, when constructing and validating constitutive models of AF, the importance of the proper simulation of individual lamellae as distinct layers, and testing parameters (sample geometric dimensions/loading/boundary conditions).

On the modeling of human intervertebral disc annulus fibrosus: Elastic, permanent deformation and failure responses.

As a primary load-resisting component, annulus fibrosus (AF) maintains structural integrity of the entire intervertebral disc. Experiments have demonstrated that permanent deformation and damage take place in the tissue under mechanical loads. Development of an accurate model to capture the complex behaviour of AF tissue is hence crucial in disc model studies. We, therefore, aimed to develop a non-homogenous model to capture elastic, inelastic and failure responses of the AF tissue and the entire disc model under axial load. Our model estimations satisfactorily agreed with results of existing uniaxial (along fiber, circumferential and axial directions) and biaxial tissue-level tests. The model accurately predicted the failure of the tissue in various directions in uniaxial extension. Collagen fiber content, type and orientation substantially altered AF tissue responses in uni- and bi-axial tests. Although collagen fiber content and type mostly affected failure stress, fiber orientation significantly influenced the tissue failure strain. The entire L2-L3 disc model accurately replicated load-displacement as well as loading-unloading responses of the disc under compression-tension forces. Preconditioning of the disc-body unit substantially stiffened response. Poisson's ratio of both AF and nucleus considerably affected compression-displacement responses of the disc (173% increase in compression at 1.49 mm displacement when it was changed from 0.499 to 0.49999). Any AF constitutive model should be calibrated under various tissue-level loads and directions as well as the entire disc model responses since using a single tissue-level loading (e.g. uniaxial) for calibration can lead to unrealistic responses in other tests (e.g., biaxial). Special attentions should be given to the choice of Poisson's ratio and the realistic consideration of preconditioning load.

Analysis of developmental level of counties of Fars in terms of health infrastructure indicators using standardized scores pattern approach and factor analysis.

INTRODUCTION: It is necessary for planning in order to achieve optimal development, to have knowledge and understanding of the current situation. This identification requires separate areas of study into planning and assessing regions of each area with development indicators and analysis and ranking each area in terms of having gifts of development. The study also aims to analyze the development level of counties of Fars in terms of health infrastructure indicators using standardized scores pattern and factor analysis. METHODS: This is a descriptive and applied study, which has discussed the levels of 29 counties of Fars based on 10 health selected indicators using a standardized scoring model. Data were collected using a data collection form developed by the researchers through the Center of Statistics and Shiraz University of Medical Sciences. Results were analyzed using Excel and SPSS 19. RESULTS: Based on calculations according to standardized score and factor analysis methods, Shiraz and Rostam had the most and the least level between the other cities, respectively. Also development coefficient and operating score of the studied counties ranged from a maximum of 0.894 to a minimum of -0.941, and a maximum of 3.861 to a minimum of 2.001, respectively. DISCUSSION: There are relatively large differences between different counties in healthcare sector, and most studied counties in terms of healthcare sector indicators are not satisfactory. So planning how to allocate healthcare resources from policy makers to improve the studied counties is essential.