Fiber-optic OCT sensor guided "SMART" micro-forceps for microsurgery.
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ABSTRACT: A handheld Smart Micromanipulation Aided Robotic-surgery Tool (SMART) micro-forceps guided by a fiber-optic common-path optical coherence tomography (CP-OCT) sensor is presented. A fiber-optic CP-OCT distance and motion sensor is integrated into the shaft of a micro-forceps. The tool tip position is manipulated longitudinally through a closed loop control using a piezoelectric motor. This novel forceps design could significantly enhance safety, efficiency and surgical outcomes. The basic grasping and peeling functions of the micro-forceps are evaluated in dry phantoms and in a biological tissue model. As compared to freehand use, targeted grasping and peeling performance assisted by active tremor compensation, significantly improves micro-forceps user performance.
Project description:Data recovery from monolithic storage devices (MSDs) is in high demand for legal or business purposes. However, the conventional data recovery methods are destructive, complicated, and time-consuming. We develop a robotic-arm-assisted optical coherence tomography (robotic-OCT) for non-destructive inspection of MSDs, offering ~7 μm lateral resolution, ~4 μm axial resolution and an adjustable field-of-view to accommodate various MSD sizes. Using a continuous scanning strategy, robotic-OCT achieves automated volumetric imaging of a micro-SD card in ~37 seconds, significantly faster than the traditional stop-and-stare scanning that typically takes tens of minutes. We also demonstrate the robotic-OCT-guided laser ablation as a microsurgical tool for targeted area removal with precision of ±10 μm and accuracy of ~50 μm, eliminating the need to remove the entire insulating layer and operator intervention, thus greatly improving the data recovery efficiency. This work has diverse potential applications in digital forensics, failure analysis, materials testing, and quality control.
Project description:SignificanceMonitoring the movement and vital signs of patients in hospitals and other healthcare environments is a significant burden on healthcare staff. Early warning systems using smart bed sensors hold promise to relieve this burden and improve patient outcomes. We propose a scalable and cost-effective optical fiber sensor array that can be embedded into a mattress to detect movement, both sensitively and spatially.AimProof-of-concept demonstration that a multimode optical fiber (MMF) specklegram sensor array can be used to detect and image movement on a bed.ApproachSeven MMFs are attached to the upper surface of a mattress such that they cross in a 3 × 4 array. The specklegram output is monitored using a single laser and single camera and movement on the fibers is monitored by calculating a rolling zero-normalized cross-correlation. A 3 × 4 image is formed by comparing the signal at each crossing point between two fibers.ResultsThe MMF sensor array can detect and image movement on a bed, including getting on and off the bed, rolling on the bed, and breathing.ConclusionsThe sensor array shows a high sensitivity to movement, which can be used for monitoring physiological parameters and patient movement for potential applications in healthcare settings.
Project description:PurposeThe occurrence of iatrogenic retinal breaks (RB) in pars plana vitrectomy (PPV) is a complication that compromises the overall efficacy of the surgery. A subset of iatrogenic RB occurs when the retina (rather than the vitreous gel) is cut accidentally by the vitrector. We developed a smart vitrector that can detect in real-time potential iatrogenic RB and activate promptly a PPV machine response to prevent them.MethodsWe fabricated the smart vitrectors by attaching a miniaturized fiber-based OCT sensor on commercial vitrectors (25G). The system's response time to an iatrogenic RB onset was measured and compared to the literature reported physiologically limited response time of the average surgeon. Two surgeons validated its ability to prevent simulated iatrogenic RB by performing PPV in pigs. Note that the system is meant to control the PPV machine and requires no visual or audio signal interpretation by the surgeons.ResultsWe found that the response time of the system (28.9 ± 6.5 ms) is 11 times shorter compared to the literature reported physiologically limited reaction time of the average surgeon (P < 0.0001). Ex vivo validation (porcine eyes) showed that the system prevents 78.95% (15/19) (95% confidence interval [CI] 54.43-93.95) of intentional attempts at creating RB, whereas in vivo validation showed that the system, prevents 55.68% (30/54) (95% CI 41.40-69.08), and prevents or mitigates 70.37% (38/54) (95% CI 56.39-82.02) of such attempts. A subset of failures was classified as "early stop" (i.e., false positive), having a prevalence of 5.26% (1 /19) in ex vivo tests and 24.07% (13/54) in in vivo tests.ConclusionsOur results indicate the smart vitrector can prevent iatrogenic RB by providing seamless intraoperative feedback to the PPV machine. Importantly, the use of the smart vitrector requires no modifications of the established PPV procedure. It can mitigate a significant proportion of iatrogenic RB and thus improve the overall efficacy of the surgery.Translational relevancePotential clinical adoption of the smart vitrector can reduce the incidence of iatrogenic RB in PPV and thus increase the therapeutic outcome of the surgery.
Project description:Early on-site diagnosis of mild traumatic brain injury (mTBI) will provide the best guidance for clinical practice. However, existing methods and sensors cannot provide sufficiently detailed physical information related to the blunt force impact. In the present work, a smart helmet with a single embedded fiber Bragg grating (FBG) sensor is developed, which can monitor complex blunt force impact events in real time under both wired and wireless modes. The transient oscillatory signal "fingerprint" can specifically reflect the impact-caused physical deformation of the local helmet structure. By combination with machine learning algorithms, the unknown transient impact can be recognized quickly and accurately in terms of impact magnitude, direction, and latitude. Optimization of the training dataset was also validated, and the boosted ML models, such as the S-SVM+ and S-IBK+, are able to predict accurately with complex databases. Thus, the ML-FBG smart helmet system developed by this work may become a crucial intervention alternative during a traumatic brain injury event.
Project description:Real-time intraocular optical coherence tomography (OCT) visualization of tissues with surgical feedback can enhance retinal surgery. An intraocular 23-gauge B-mode forward-imaging co-planar OCT-forceps, coupling connectors and algorithms were developed to form a unique ophthalmic surgical robotic system. Approach to the surface of a phantom or goat retina by a manual or robotic-controlled forceps, with and without real-time OCT guidance, was performed. Efficiency of lifting phantom membranes was examined. Placing the co-planar OCT imaging probe internal to the surgical tool reduced instrument shadowing and permitted constant tracking. Robotic assistance together with real-time OCT feedback improved depth perception accuracy. The first-generation integrated OCT-forceps was capable of peeling membrane phantoms despite smooth tips.
Project description:Heparin is a common anticoagulant, but heparin overdose is a common intensive care unit (ICU) medication error due to the narrow therapeutic window of heparin. Conventional methods to monitoring heparin suffer from long turnaround time, the need for skilled personnel, and low frequency of sampling. To overcome these issues, we describe here a fiber optic photoacoustic (PA) sensor for real-time heparin monitoring. The proposed sensor was validated with in vitro testing and in a simulated in vivo model using the following samples: (1) phosphate-buffered saline (PBS), (2) spiked human plasma, (3) spiked whole human blood, and (4) clinical samples from patients treated with heparin. Samples were validated by comparing the PA signal to the activated partial thromboplastin time (aPTT) as well as the activated clotting time (ACT). Importantly, the proposed sensor has a short turnaround time (3 min) and a limit of detection of 0.18 U/ml in whole human blood. The PA signal is linear with heparin dose and correlates with the aPTT value (Pearson's r = 0.99). The PA signal from 32 clinical samples collected from eight patients linearly correlated with ACT values (Pearson's r = 0.89, in vitro; Pearson's r = 0.93, simulated in vivo). The PA signal was also validated against the cumulative heparin dose (Pearson's r = 0.94, in vitro; Pearson's r = 0.96, simulated in vivo). This approach could have applications in both in vitro and real-time in vivo heparin monitoring.
Project description:Structural health monitoring of fiber-reinforced composite-based joints for automotive applications during their manufacturing and on-demand assessment for its durability in working environments is critically needed. High-definition fiber-optic sensing is an effective method to measure internal strain/stress development using minimally invasive continuous sensors. The sensing fiber diameters are in the same order of magnitude when compared to reinforcement (glass, basalt, or carbon fibers) used in polymer composites. They also offer a unique ability to monitor the evolution of residual stresses after repeated thermal exposure with varying temperatures for automotive components/joints during painting using an electrophoretic painting process. In this paper, a high-definition fiber-optic sensor utilizing Rayleigh scattering is embedded within an adhesive joint between a carbon fiber-reinforced thermoset composite panel and an aluminum panel to measure spatially resolved strain development, residual strain, and thermal expansion properties during the electrophoretic paint process-simulated conditions. The strain measured by the continuous fiber-optic sensor was compared with an alternate technique using thermal digital image correlation. The fiber-optic sensor was able to identify the spatial variation of residual strains for a discontinuous carbon fiber-reinforced composite with varying local fiber orientations and resin content.
Project description:PurposeTo assess the feasibility and safety of imaging canine peripheral airways (<1 mm) with an experimental micro-imaging fiber optic bronchoscope.MethodsTwenty healthy dogs were scoped with a micro-imaging fiber optic bronchoscope (0.8 mm outer diameter). Images at various levels of the bronchioles, mucosal color, and tracheal secretions were recorded. The apparatus was stopped once it was difficult to insert. CT imaging was performed simultaneously to monitor progression. The safety of the device was evaluated by monitoring heart rate (HR), respiratory rate (RR), mean artery pressure (MAP), peripheral oxygen saturation (SpO2) and arterial blood gases (partial pressure of arterial carbon-dioxide, PaCO2, partial pressure of arterial oxygen, PaO2, and blood pH).Results(1) According to the CT scan, the micro-imaging fiber was able to access the peripheral airways (<1 mm) in canines. (2) There was no significant change in the values of HR, MAP, pH and PaCO2 during the procedure (P>0.05). Comparing pre-manipulation and post-manipulation values, SpO2 (F = 13.06, P<0.05) and PaO2 (F = 3.01, P = 0.01) were decreased, whereas RR (F = 3.85, P<0.05) was elevated during the manipulation. (3) Self-limited bleeding was observed in one dog; severe bleeding or other complications did not occur.ConclusionAlthough the new apparatus had little effect on SpO2, PaO2 and RR, it can probe into small peripheral airways (<1 mm), which may provide a new platform for the early diagnosis of bronchiolar diseases.
Project description:Using energy-saving electrochromic (EC) displays in smart devices for augmented reality makes cost-effective, easily producible, and efficiently operable devices for specific applications possible. Prussian blue (PB) is a metal-organic coordinated compound with unique EC properties that limit EC display applications due to the difficulty in PB micro-patterning. This work presents a novel micro-printing strategy for PB patterns using localized crystallization of FeFe(CN)6 on a substrate confined by the acidic-ferric-ferricyanide ink meniscus, followed by thermal reduction at 120 °C, thereby forming PB. Uniform PB patterns can be obtained by manipulating printing parameters, such as the concentration of FeCl3 ·K3 Fe(CN)6 , printing speed, and pipette inner diameter. Using a 0.1 M KCl (pH 4) electrolyte, the printed PB pattern is consistently and reversibly converted to Prussian white (CV potential range: -0.2-0.5 V) with 200 CV cycles. The PB-based EC display with a navigation function integrated into a smart contact lens is able to display directions to a destination to a user by receiving GPS coordinates in real time. This facile method for forming PB micro-patterns could be used for advanced EC displays and various functional devices.
Project description:Distributed optical fiber sensors (DOFS) based on Raman, Brillouin, and Rayleigh scattering have recently attracted considerable attention for various sensing applications, especially large-scale monitoring, owing to their capacity for measuring strain or temperature distributions. However, ultraweak backscatter signals within optical fibers constitute an inevitable problem for DOFS, thereby increasing the burden on the entire system in terms of limited spatial resolution, low measurement speed, high system complexity, or high cost. We propose a novel resonance frequency mapping for a real-time quasi-distributed fiber optic sensor based on identical weak fiber Bragg gratings (FBG), which has stronger reflection signals and high sensitivity to multiple sensing parameters. The resonance configuration, which amplifies optical signals during multiple round-trip propagations, can simply and efficiently address the intrinsic problems in conventional single round-trip measurements for identical weak FBG sensors, such as crosstalk and optical power depletion. Moreover, it is technically feasible to perform individual measurements for a large number of quasi-distributed identical weak FBGs with relatively high signal-to-noise ratio (SNR), low crosstalk, and low optical power depletion. By mapping the resonance frequency spectrum, the dynamic response of each identical weak FBG is rapidly acquired in the order of kilohertz, and direct interrogation in real time is possible without time-consuming computation, such as fast Fourier transformation (FFT). This resonance frequency spectrum is obtained on the basis of an all-fiber electro-optic configuration that allows simultaneous measurement of quasi-distributed strain responses with high speed (>5 kHz), high stability (~2.4 με), and high linearity (R2 = 0.9999).