Browsing by Author "Sutherland, Garnette R."

Now showing 1 - 6 of 6
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    A study on effect of a haptic device on performing a robot-assisted surgical task
    (2011) Samad, Manar Din; Hu, Yaoping; Sutherland, Garnette R.
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    Data-driven needle puncture detection for the delivery of urgent medical care in space
    (2024-11-21) L'Orsa, Rachael; Westwick, David T.; Sutherland, Garnette R.; Goldsmith, Peter B.; Kuchenbecker, Katherine J.; Sun, Qiao; Majewicz Fey, Ann
    Needle thoracostomy (NT) is a surgical procedure that treats one of the most preventable causes of trauma-related death: dangerous accumulations of air between the chest wall and the lungs. However, needle-tip overshoot of the target space can result in the inadvertent puncture of critical structures like the heart. This type of complication is fatal without urgent surgical care, which is not available in resource-poor environments like space. Since NT is done blind, operators rely on tool sensations to identify when the needle has reached its target. Needle instrumentation could enable puncture notifications to help operators limit tool-tip overshoot, but such a solution requires reliable puncture detection from manual (i.e., variable-velocity) needle insertion data streams. Data-driven puncture-detection (DDPD) algorithms are appropriate for this application, but their performance has historically been unacceptably low for use in safety-critical applications. This work contributes towards the development of an intelligent device for manual NT assistance by proposing two novel DDPD algorithms. Three data sets are collected that provide needle forces and displacements acquired during insertions into ex vivo porcine tissue analogs for the human chest, and factors affecting DDPD algorithm performance are analyzed in these data. Puncture event features are examined for each sensor, and the suitability of both accelerometer measurements and diffuse reflectance measurements are evaluated within the context of NT. Finally, DDPD ensembles are proposed that yield a 5.1-fold improvement in precision as compared to the traditional force-only DDPD approach. These results lay a foundation for improving the urgent delivery of percutaneous procedures in space and other resource-poor settings.
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    On the Estimation of Angular Orientation With Microelectromechanical Systems
    (2010) Rizun, Peter Ryan; Sutherland, Garnette R.
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    Post-ischemic glycolytic & TCA cycle flux studies using 13C-NMR spectroscopy
    (1996) Van den Elzen-Horacek, Marketa; Sutherland, Garnette R.
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    ItemEmbargo
    Post-ischemic glycolytic and TCA cycle flux studies using 13C-NMR spectroscopy
    (1996) Van den Elzen-Horacek, Marketa; Sutherland, Garnette R.
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    Treatment of Glioma Using neuroArm Surgical System
    (2016-05-24) Maddahi, Yaser; Zareinia, Kourosh; Gan, Liu Shi; Sutherland, Christina; Lama, Sanju; Sutherland, Garnette R.
    The use of robotic technology in the surgical treatment of brain tumour promises increased precision and accuracy in the performance of surgery. Robotic manipulators may allow superior access to narrow surgical corridors compared to freehand or conventional neurosurgery. This paper reports values and ranges of tool-tissue interaction forces during the performance of glioma surgery using an MR compatible, image-guided neurosurgical robot called neuroArm. The system, capable of microsurgery and stereotaxy, was used in the surgical resection of glioma in seven cases. neuroArm is equipped with force sensors at the end-effector allowing quantification of tool-tissue interaction forces and transmits force of dissection to the surgeon sited at a remote workstation that includes a haptic interface. Interaction forces between the tool tips and the brain tissue were measured for each procedure, and the peak forces were quantified. Results showed maximum and minimum peak force values of 2.89 N (anaplastic astrocytoma, WHO grade III) and 0.50 N (anaplastic oligodendroglioma, WHO grade III), respectively, with the mean of peak forces varying from case to case, depending on type of the glioma. Mean values of the peak forces varied in range of 1.27 N (anaplastic astrocytoma, WHO grade III) to 1.89 N (glioblastoma with oligodendroglial component, WHO grade IV). In some cases, ANOVA test failed to reject the null hypothesis of equality in means of the peak forces measured. However, we could not find a relationship between forces exerted to the pathological tissue and its size, type, or location.