Browsing by Subject "biological tissues"

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    Modeling and Simulation of Robotic Palpation to Detect Subsurface Soft Tissue Anomaly for Presurgical Assessment
    (ASME, 2024-08) Bhattacharjee, Abhinaba; Loghmani, M. Terry; Anwar, Sohel; Health Sciences, School of Health and Human Sciences
    Surgical Haptics is an emergent field of research to integrate and advance the sense of robotic touch in laparoscopic tools in robot-assisted minimally invasive surgery. Haptic feedback from the tooltip and soft tissue surface interaction during robotic palpation can be leveraged to detect the texture and contour of subsurface geometry. However, precise force modulation of the robotic palpating probe is necessary to determine stiff inclusions of the anatomy and maneuver successive manipulation tasks during surgery. This paper focuses on investigating the layered deformations associated with different force profiles involved in manipulating the superficial anatomy of soft tissues during dynamic robotic palpation to determine the underlying anomaly. A realistic three-dimensional (3D) cross-sectional soft tissue phantom with anatomical layers and tumor, as an anomaly, is designed, modeled, and analyzed to examine the effects of oriented palpating forces (0–5 N) of a 7 DOF robot arm equipped with a contoured palpation probe. Finite element static structural analysis of oriented robotic palpation on the developed 3D soft tissue phantoms (with and without anomaly) reveals the soft tissue layer deformations and associated strains needed to identify presence of stiffer inclusions or anomaly during Robotic palpation. The finite element analysis study shows that the difference in deformations of soft tissue layers (e.g., underlying myofascial layers) under stiffer inclusions at different force levels can facilitate haptic feedback to acquire information about subsurface tumors. The deformation variations are further compared to assess better palpation orientations for subsurface anomaly detection.
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    Quantitative Intravital Microscopy of Liver Transport
    (Office of the Vice Chancellor for Research, 2013-04-05) Ryan, Jennifer; Ghabril, Marwan; Decker, Brian; Dunn, Kenneth W.
    Because if its unique ability to collect fluorescence images from deep in biological tissues, intravital multiphoton microscopy has become a valuable tool in several areas of biological research, including neurobiology, cancer biology and immunology. Here we describe methods of quantitative intravital microscopy that we have developed to characterize cholestatic liver injury. Special methods of tissue immobilization, multiphoton microscopy and digital image analysis were developed to support dynamic measurements of the kinetics of transport from the sinusoids into the cytosol and from the cytosol into the bile canaliculi in individual hepatocytes in vivo. Using a combination of different fluorescent probes, we have combined transport assays with measures of microvascular function, inflammation and cell viability to provide integrated measures of liver injury. The sensitivity of this approach is demonstrated in quantitative analyses of the acute effects of cholestatic drugs and the effects of chronic kidney disease.