Ali Alazmani

Design Methodology for Magnetic Field-Based Soft Tri-Axis Tactile Sensors.

Tactile sensors are essential if robots are to safely interact with the external world and to dexterously manipulate objects. Current tactile sensors have limitations restricting their use, notably being too fragile or having limited performance. Magnetic field-based soft tactile sensors offer a potential improvement, being durable, low cost, accurate and high bandwidth, but they are relatively undeveloped because of the complexities involved in design and calibration. This paper presents a general design methodology for magnetic field-based three-axis soft tactile sensors, enabling researchers to easily develop specific tactile sensors for a variety of applications. All aspects (design, fabrication, calibration and evaluation) of the development of tri-axis soft tactile sensors are presented and discussed. A moving least square approach is used to decouple and convert the magnetic field signal to force output to eliminate non-linearity and cross-talk effects. A case study of a tactile sensor prototype, MagOne, was developed. This achieved a resolution of 1.42 mN in normal force measurement (0.71 mN in shear force), good output repeatability and has a maximum hysteresis error of 3.4%. These results outperform comparable sensors reported previously, highlighting the efficacy of our methodology for sensor design.

Quantitative assessment of colorectal morphology: Implications for robotic colonoscopy

This paper presents a method of characterizing the distribution of colorectal morphometrics. It uses three-dimensional region growing and topological thinning algorithms to determine and visualize the luminal volume and centreline of the colon, respectively. Total and segmental lengths, diameters, volumes, and tortuosity angles were then quantified. The effects of body orientations on these parameters were also examined. Variations in total length were predominately due to differences in the transverse colon and sigmoid segments, and did not significantly differ between body orientations. The diameter of the proximal colon was significantly larger than the distal colon, with the largest value at the ascending and cecum segments. The volume of the transverse colon was significantly the largest, while those of the descending colon and rectum were the smallest. The prone position showed a higher frequency of high angles and consequently found to be more torturous than the supine position. This study yielded a method for complete segmental measurements of healthy colorectal anatomy and its tortuosity. The transverse and sigmoid colons were the major determinant in tortuosity and morphometrics between body orientations. Quantitative understanding of these parameters may potentially help to facilitate colonoscopy techniques, accuracy of polyp spatial distribution detection, and design of novel endoscopic devices.

Intracranial pressure changes during mouse development

During early stages of postnatal development, pressure from the growing brain as well as cerebrospinal fluid, i.e. intracranial pressure (ICP), load the calvarial bones. It is likely that such loading contributes to the peripheral bone formation at the sutural edges of calvarial bones, especially shortly after birth when the brain is growing rapidly. The aim of this study was to quantify ICP during mouse development. A custom pressure monitoring system was developed and calibrated. It was then used to measure ICP in a total of seventy three wild type mice at postnatal (P) day 3, 10, 20, 31 and 70. Retrospectively, the sample in each age group with the closest ICP to the average value was scanned using micro-computed tomography to estimate cranial growth. ICP increased from 1.33±0.87mmHg at P3 to 1.92±0.78mmHg at P10 and 3.60±1.08mmHg at P20. In older animals, ICP plateaued at about 4mmHg. There were statistically significant differences between the ICP at the P3 vs. P20, and P10 vs. P20. In the samples that were scanned, intracranial volume and skull length followed a similar pattern of increase up to P20 and then plateaued at older ages. These data are consistent with the possibility of ICP being a contributing factor to bone formation at the sutures during early stages of development. The data can be further used for development and validation of computational models of skull growth.

Design and Evaluation of a Buckled Strip Compliant Actuator

A novel compliant actuator based upon the compliance of a buckled thin strip is presented. It is suggested that the actuator can be used for a point contact attachment or to generate a 2-D or 3-D compliant surface. Compliance variation was obtained by changing the distance between the ends of the buckled strip using a linear actuator and by altering the end attachments from hinged to clamped. A mathematical model is developed and experimentally validated to predict the shape of the compliant surface so that its profile can be controlled and matched to a target surface shape. The general characterization of the actuator is presented here in terms of compliance modification and frequency response. Results demonstrated that actuator compliance could be increased 2× by adjustment of the end boundary attachments, and 8× by adjusting the end displacement as well. These increases could be achieved “on-the-fly”, without reconfiguring the system. The actuator also generated a stable, linear response in the design range of up to 4.0 Hz. In conclusion, we have shown that a buckled strip/linear motor combination can produce an accurate, predictable, and controlled active compliance actuator suitable for a range of applications, but designed here for applications involving interaction with or simulation of biological tissues.

The coordination of upper and lower arm rotation

We tested the hypothesis that the upper and lower arm act as a coordinative structure coupled through a higher order control system. Five healthy participants moved their hand between two targets in ten conditions via internal/external rotation of the shoulder. In eight conditions, the task required concurrent rotation of the lower arm (180° pronation/supination). Movements were stereotypical within a condition but plotting the upper and lower arm angle against each other produced an asymmetrical pattern. With internal rotation, the upper arm reached peak angular velocity slower than the lower arm but this was reversed with external rotation. In two conditions, participants were asked to move faster and slower than their normal speed. The peak speed, time to peak speed and duration were predictable for the different tasks. Internal and external asymmetries decreased with faster movements. In addition a decrease in upper arm amplitude (from 90° to 30°) removed the asymmetry. The asymmetry was unaffected by initial posture but was exaggerated when external rotation was paired with pronation rather than supination, and internal rotation combined with supination (versus pronation). However, the presence of the same fundamental pattern suggests that the asymmetry is not due to biomechanical factors but might arise because of the difficulties involved in visually monitoring the hand when it is close to the body. The results support the idea that functional coupling can occur between upper and lower arm rotations and thus provides further evidence for a higher order control system which is responsible for coordination of arm segment movement.

A physical simulation to investigate the effect of anorectal angle on continence

This paper investigates the effect of the anorectal angle on continence using a physical model of the anatomical system. A method to fabricate, measure and control a physical model for the simulation of human faecal continence is presented. A model rectum and associated soft tissues, based on geometry from an anonymised CT dataset, was fabricated from silicone and showed behavioural realism to ex vivo tissue. Simulated stool matter with similar rheological properties to human faeces was developed. Instrumentation and control hardware are used to regulate injection of simulated stool into the system, define the anorectal angle and monitor stool flow rate, intra-rectal pressure and puborectalis force. A study was then conducted in which simulated stool was introduced to the system for anorectal angles between 80° and 100°. Results obtained from the study give insight into the effect of the anorectal angle on continence. Stool leakage was reduced as the angle became more acute. Conversely, intra-rectal pressure increased. These data demonstrate that the anorectal angle is fundamental in maintaining continence. This work is valuable in helping improve our understanding of the physical behaviour of the faecal system. It has particular relevance facilitating improved technologies to treat or manage severe faecal incontinence.

Design Optimisation of a Magnetic Field Based Soft Tactile Sensor

This paper investigates the design optimisation of a magnetic field based soft tactile sensor, comprised of a magnet and Hall effect module separated by an elastomer. The aim was to minimise sensitivity of the output force with respect to the input magnetic field; this was achieved by varying the geometry and material properties. Finite element simulations determined the magnetic field and structural behaviour under load. Genetic programming produced phenomenological expressions describing these responses. Optimisation studies constrained by a measurable force and stable loading conditions were conducted; these produced Pareto sets of designs from which the optimal sensor characteristics were selected. The optimisation demonstrated a compromise between sensitivity and the measurable force, a fabricated version of the optimised sensor validated the improvements made using this methodology. The approach presented can be applied in general for optimising soft tactile sensor designs over a range of applications and sensing modes.

Friction characteristics of trocars in laparoscopic surgery.

This article investigates the friction characteristics of the instrument–trocar interface in laparoscopic surgery for varying linear instrument velocities, trocar seal design and material, and trocar tilt. Furthermore, the effect of applying lubrication at the instrument–trocar seal interface on friction was studied. A friction testing apparatus was designed and built to characterise the resistance force at the instrument–trocar interface as a function of the instrument’s linear movement in the 12-mm trocar (at constant velocity) for different design, seal material, and angle of tilt. The resistance force depended on the trocar seal design and material properties, specifically surface roughness, elasticity, hardness, the direction of movement, and the instrument linear velocity, and varied between 0.25 and 8 N. Lubricating the shaft with silicone oil reduced the peak resistance force by 75% for all trocars and eliminated the stick–slip phenomenon evident in non-lubricated cases. The magnitude of fluctuation in resistance force depends on the trocar design and is attributed to stick–slip of the sealing mechanism and is generally higher during retraction in comparison to insertion. Trocars that have an inlet seal made of rubber/polyurethane showed higher resistance forces during retraction. Use of a lubricant significantly reduced frictional effects. Comparisons of the investigated trocars indicate that a low friction port, providing the surgeon with improved haptic feedback, can be designed by improving the tribological properties of the trocar seal interface.

A biomechanical model of the human defecatory system to investigate mechanisms of continence

This article presents a method to fabricate, measure and control a physical simulation of the human defecatory system to investigate individual and combined effects of anorectal angle and sphincter pressure on continence. To illustrate the capabilities and clinical relevance of the work, the influence of a passive-assistive artificial anal sphincter (FENIXTM) is evaluated. A model rectum and associated soft tissues, based on geometry from an anonymised computed tomography dataset, was fabricated from silicone and showed behavioural realism to the biological system and ex vivo tissue. Simulated stool matter with similar rheological properties to human faeces was developed. Instrumentation and control hardware were used to regulate injection of simulated stool into the system, automate balloon catheter movement through the anal canal, define the anorectal angle and monitor stool flow rate, intra-rectal pressure, anal canal pressure and puborectalis force. Studies were conducted to examine the response of anorectal angles at 80°, 90° and 100° with simulated stool. Tests were then repeated with the inclusion of a FENIX device. Stool leakage was reduced as the anorectal angle became more acute. Conversely, intra-rectal pressure increased. Overall inclusion of the FENIX reduced faecal leakage, while combined effects of the FENIX and an acute anorectal angle showed the greatest resistance to faecal leakage. These data demonstrate that the anorectal angle and sphincter pressure are fundamental in maintaining continence. Furthermore, it demonstrates that use of the FENIX can increase resistance to faecal leakage and reduce anorectal angles required to maintain continence. Physical simulation of the defecatory system is an insightful tool to better understand, in a quantitative manner, the effects of the anorectal angle and sphincter pressure on continence. This work is valuable in helping improve our understanding of the physical behaviour of the continence mechanism and facilitating improved technologies to treat severe faecal incontinence.

Continence technologies whitepaper: Informing new engineering science research:

Advances in healthcare technology for continence have historically been limited compared to other areas of medicine, reflecting the complexities of the condition and social stigma which act as a barrier to participation. This whitepaper has been developed to inspire and direct the engineering science community towards research opportunities that exist for continence technologies that address unmet needs in diagnosis, treatment and long-term management. Our aim is to pinpoint key challenges and highlight related research opportunities for novel technological advances. To do so, we draw on experience and expertise from academics, clinicians, patients and patient groups linked to continence healthcare. This is presented in four areas of consideration: the clinical pathway, patient perspective, research challenges and effective innovation. In each we introduce seminal research, background information and demonstrative case-studies, before discussing their relevance to engineering science researchers who are interested in approaching this overlooked but vital area of healthcare.