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This paper presents a new method for identification of system models that are linear in parametric structure, but arbitrarily nonlinear in signal operations. The strategy blends traditional system identification methods with three modeling strategies that are not commonly employed in signal processing: linear-time-invariant-in-parameters models, set-based parameter identification, and evolutionary...
Assembling a large genome using next generation sequencing reads requires large computer memory and a long execution time. To reduce these requirements, a memory and time efficient assembler is presented from applying FM-index in JR-Assembler, called FMJ-Assembler, where FM stand for FMR-index derived from the FM-index and BWT and J for jumping extension. The FMJ-Assembler uses expanded FM-index and...
We investigate the phenomenon of HIV eradication at the early stage of the infection and evaluate the chance of the eradication with a mathematical model. We employ an extracellular deterministic model of the HIV infection dynamics and modify the model to include the pharmacokinetics and pharmacodynamics of antiretroviral HIV drugs. In addition we consider clinical experiments for the prevention of...
In the presence of unpredictable disturbances and uncertainties, cells intelligently achieve their goals by sharing information via cell-cell communication and making collective decisions, which are more reliable compared to individual decisions. Inspired by adaptive sensor network algorithms studied in communication engineering, we propose that a multi-cellular adaptive network can convert unreliable...
In the embryo development problem for the Drosophila melanogaster, a set of molecules known as mor-phogens are responsible for the embryo segmentation. These morphogens are encoded by different genes, including the GAP genes, maternal coordination genes and pair-rule genes. One of the maternal coordination genes encodes the Bicoid morphogen, which is the responsible for the development of the Drosophila...
Polynomial Chaos (PC) is a decomposition method used to build a meta-model, which approximates the unknown response of a model. In this paper the PC method is applied to the stochastic dosimetry to assess the variability of human exposure due to the change of the orientation of the B-field vector respect to the human body. In detail, the analysis of the pregnant woman exposure at 7 months of gestational...
A hands-free interface has been developed to allow a single surgeon to control a locally operated forceps manipulating robot. It is based on the use of a pressure sensor sheet placed on the floor to measure temporal changes in the center of gravity of the operator's foot, in addition to the applied force. Pattern recognition was carried out during trials with endoscope specialists and students for...
For the last decade, remarkable progress has been made in the field of cardiovascular disease treatment. However, these complex medical procedures require a combination of rich experience and technical skills. In this paper, a 3D virtual reality simulator for core skills training in minimally invasive surgery is presented. The system can generate realistic 3D vascular models segmented from patient...
Recently, the range of applications of surgical staplers has been extended to include laparoscopic liver resection because manipulation of a surgical stapler is very simple. Revealing the causes of stapling failure and suggesting a method to solve stapling failure are important for safe laparoscopic liver resection. Surgeons say that tissues make stapling more likely to fail if they are thick and...
This paper deals with the development of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated needle to follow a curvilinear path for percutaneous intervention. The robot driving the needle is considered as the outer loop and the non-linear SMA actuated flexible needle system forms the inner loop. The two feedback control loops are coordinated in such a way that...
Miniaturized surgical robotic system presents promising trend for reducing invasiveness during operation. However, cables used for power and communication may affect its performance. In this paper we chose Zigbee wireless communication as a means to replace communication cables for miniaturized surgical robot. Nevertheless, time delay caused by wireless communication presents a new challenge to performance...
Robotic surgery is being used widely due to its various benefits that includes reduced patient trauma and increased dexterity and ergonomics for the operating surgeon. Making the whole or part of the surgical procedure autonomous increases patient safety and will enable the robotic surgery platform to be used in telesurgery. In this work, an Electrosurgery procedure that involves tissue compression...
A five degree-of-freedom (DOF) miniature parallel robot has been developed to precisely and safely remove the thin internal limiting membrane in the eye ground during vitreoretinal surgery. A simulator has been developed to determine the design parameters of this robot. The developed robot's size is 85 mm × 100 mm × 240 mm, and its weight is 770 g. This robot incorporates an emergency instrument retraction...
In robot-assisted needle-based medical procedures, path planning for a flexible needle is challenging with regard to time consumption and searching robustness for the solution due to the nonholonomic motion of the needle tip and the presence of anatomic obstacles and sensitive organs in the intended needle path. We propose a novel and fast path planning algorithm for a robot-assisted active flexible...
WaFLES (Water-Filled LaparoEndoscopic Surgery) is an operative method suggested by Igarashi et al., which has several advantages, such as, preventing the drying of inner organs, and being able to use ultrasound devices for real time monitoring. However, grasping of inner organs with usual forceps for move and incision purpose is difficult. Therefore our ultimate goal is to develop a small sucker manipulator...
Interaction with mobile consumer devices leads to a higher acceptance and affinity of persons to natural user interfaces and perceptional interaction possibilities. New interaction modalities become accessible and are capable to improve human machine interaction even in complex and high risk environments, like the operation room. Here, manifold medical disciplines cause a great variety of procedures...
In neurophysiology, investigating brain connectivity within and between different brain structures is of fundamental importance for understanding nervous system function and its relation to behavior. Yet, parallel recordings in multiple brain structures is highly challenging, especially in rodents, which are most commonly employed in neurophysiological research but rather small in size. In this study,...
High-level spinal cord injury (SCI) survivors face every day two related problems: recovering motor skills and regaining functional independence. Body machine interfaces (BoMIs) empower people with sever motor disabilities with the ability to control an external device, but they also offer the opportunity to focus concurrently on achieving rehabilitative goals. In this study we developed a portable,...
Properties of the neural responses to electrical stimulus pulses delivered at various inter-pulse intervals were examined in the visual cortices of mice in vivo, with utilizing the voltage-sensitive dye imaging technique. Our experimental results provided the relationships between the inter-pulse intervals and the stimulus-evoked transient depolarizations, which may offer insight into the design of...
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