Biomedical subjects

Paolo Dario

Publications and source records attributed to Paolo Dario.

At least 19 recordsLinked to original sources

PubMed2007

Modeling, design and validation of a novel microfluidic sensor for in-vitro isotonic measurement of microvessel contraction/dilation.

The paper presents an innovative fluidic microdevice for in-vitro isotonic measurements of microvessel contraction/dilation. The proposed microdevice is based on the well-known fluid dynamic principle which correlates a geometrical change of a solid body immersed in a constant flow, with the differential pressure change induced in the flow itself. Indeed, a biochemically-induced change of microvessel diameter lead to a change of its hydraulic resistance which can be in-vitro measured by a differential pressure sensor. The novel microfluidic sensor has been modeled, designed and fabricated in order to properly implement this working principle. The fluidic scheme of the sensor consists of two pressure-sensorized chambers which are connected by a calibrated channel where the microvessel is placed. Experimental tests have been performed by using three microvessel passive simulators with different inner diameter (300, 600 and 800 microm), in order to validate the expected sensor functioning characterized by two sensitivities: the pressure drop S (PL) and the overall S 2-3 ones. Their measured values (S (PL,m)=2.132 mV/V/Pa, S (2-3,m)=0.787 mV/V/(mm3/s)/mm) confirm the validity of the proposed working principle and permit to be confident in a future application of the sensor in a clinical context.

Blood Flow Velocity↗

PubMed2007

Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems.

In the recent past, the introduction of miniaturised image sensors with low power consumption, based on complementary metal oxide semiconductor (CMOS) technology, has allowed the realisation of an ingestible wireless capsule for the visualisation of the small intestine mucosa. The device has received approval from Food and Drug Administration and has gained momentum since it has been more successful than traditional techniques in the diagnosis of small intestine disorders. In 2004 an esophagus specific capsule was launched, while a solution for colon is still under development. However, present solutions suffer from several limitations: they move passively by exploiting peristalsis, are not able to stop intentionally for a prolonged diagnosis, they receive power from an internal battery with short length, and their usage is restricted to one organ, either small bowel or esophagus. However the steady progresses in many branches of engineering, including microelectromechanical systems (MEMS), are envisaged to affect the performances of capsular endoscopy. The near future foreshadows capsules able to pass actively through the whole gastrointestinal tract, to retrieve views from all organs and to perform drug delivery and tissue sampling. In the long term, the advent of robotics could lead to autonomous medical platforms, equipped with the most advanced solutions in terms of MEMS for therapy and diagnosis of the digestive tract. In this review, we discuss the state of the art of wireless capsule endoscopy (WCE): after a description on the current status, we present the most promising solutions.

Capsule Endoscopes↗

PubMed2006

Complex Ohmic conductance of electrolytes in rectangular microchannels.

Motivated by the interest that microelectrolytic systems are gaining in the development of the so-called lab-on-a-chip systems, i.e., miniature microfluidic devices for biochemical analysis, we present an analytical study of Ohmic conduction in rectangular charged microchannels filled with electrolytic solution. The study complements a previous one [M. Campisi et al., J. Chem. Phys. 123, 204724 (2005)], concerning ac electro-osmosis. The problem is framed within the theory of nonequilibrium thermodynamics and is based on the solution of the incompressible Navier-Stokes equation with an electrical body force due to the interaction of the applied electric field with the charged electric double layer (EDL) which forms at the solid-liquid interface. We analyze in detail the dependence of the system complex conductance on the ratio linear dimensions over Debye length with an eye on finite EDL effects, and compare its scaling properties with those of electrokinetic and hydraulic complex conductances.

Journal Article↗

PubMed2006

Biomechanical characterization of needle piercing into peripheral nervous tissue.

Several neural interfaces have been developed to control neuroprostheses and hybrid bionic systems. Among them, intraneural electrodes are very promising because they represent an interesting trade-off between the needs for high selectivity and for reduced invasiveness. However, in most of the cases, no particular attention has been devoted so far to the design of these systems starting from the mechanical properties of the system to be interfaced. The aim of this paper was to study and characterize in a quantitative way the piercing of peripheral nervous tissue in order to gather useful information to design intraneural interfaces able to reduce (as much as possible) the damages provoked by this task. In particular, attention has been paid to determine the values of force and pressure to carry out the piercing task in different velocity conditions. From the experimental data it was possible to characterize indirectly the tissue sinking under the needle tip. For each experimental velocity (ranging from 1 to 2000 mm/min) a threshold, under which the tissue cannot be pierced, has been calculated. The force magnitude required for piercing was shown to be in the range 0.3-25 mN for the different velocities. Moreover, differences between piercing carried out at very low velocity (multi-piercing) and at low velocity (mono-piercing) have been characterized and correlated with the physical characteristics of the nervous tissue. Experimental data have been integrated with a theoretical analysis of the neural interfaces piercing structures. The problem of buckling, representing for these structures the main cause of tissue piercing impossibility, has been analyzed. The nonlinear theoretical model allows to compare different needle geometries and materials with regard to piercing possibility at different velocities. Moreover, an optimization of piercing elements geometry with regard to amount of used material and space has been provided.

Animals↗

PubMed2006

Modelling and evaluation of surgical performance using hidden Markov models.

Minimally invasive surgery has become very widespread in the last ten years. Since surgeons experience difficulties in learning and mastering minimally invasive techniques, the development of training methods is of great importance. While the introduction of virtual reality-based simulators has introduced a new paradigm in surgical training, skill evaluation methods are far from being objective. This paper proposes a method for defining a model of surgical expertise and an objective metric to evaluate performance in laparoscopic surgery. Our approach is based on the processing of kinematic data describing movements of surgical instruments. We use hidden Markov model theory to define an expert model that describes expert surgical gesture. The model is trained on kinematic data related to exercises performed on a surgical simulator by experienced surgeons. Subsequently, we use this expert model as a reference model in the definition of an objective metric to evaluate performance of surgeons with different abilities. Preliminary results show that, using different topologies for the expert model, the method can be efficiently used both for the discrimination between experienced and novice surgeons, and for the quantitative assessment of surgical ability.

Computer Simulation↗

PubMed2006

Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool.

This paper reports preliminary results on design and fabrication of a cutting tool with an integrated triaxial force sensor to be applied in fetal surgery procedures. The outer diameter of the proposed device is 7.4 mm, but a scaled down design can be easily achieved. Linearity and hysteresis tests have been performed for both normal and tangential loadings. A linear transformation relating the sensor output to the external applied force is introduced and discussed. The typical working range for the conceived instrument is around 0.3 N, while 20 N and 1 N are, respectively, maximum normal and tangential forces for which the device robustness has been assessed.

Equipment Design↗

PubMed2006

A biomechanical analysis of surgeon's gesture in a laparoscopic virtual scenario.

Minimally invasive surgery (MIS) has become very common in recent years thanks to many advantages that patients can get. However, due to the difficulties surgeons encounter to learn and manage this technique, several training methods and metrics have been proposed in order to, respectively, improve surgeon's abilities and assess his/her surgical skills. In this context, this paper presents a biomechanical analysis method of the surgeon's movements, during exercise involving instrument tip positioning and depth perception in a laparoscopic virtual environment. Estimation of some biomechanical parameters enables us to assess the abilities of surgeons and to distinguish an expert surgeon from a novice. A segmentation algorithm has been defined to deeply investigate the surgeon's movements and to divide them into many sub-movements.

Algorithms↗

PubMed2006

Tracking endoscopic instruments without localizer: image analysis-based approach.

In this paper we present an approach to localize endoscopic instruments with respect to the camera position, purely based on video image processing. No localizers are required. The only requirement is a coloured strip at the distal part of the instrument shaft, to facilitate image segmentation. The method exploits perspective image analysis applied to the cylindrical shape of the instrument shaft, allowing to measure five degrees of freedom of the instrument position and orientation. We describe the method theoretically and experimentally derive calibration curves for tuning the parameters of the algorithm. Results show that the method can be used for applications where accuracy is not critical, e.g. workspace analysis, gesture analysis, augmented-reality guidance, telementoring, etc. If this method is used in combination with a robotic camera holder, full localization with respect to the operating room can be achieved.

Algorithms↗

PubMed2005

ac electroosmosis in rectangular microchannels.

Motivated by the growing interest in ac electroosmosis as a reliable no moving parts strategy to control fluid motion in microfluidic devices for biomedical applications, such as lab-on-a-chip, we study transient and steady-state electrokinetic phenomena (electroosmosis and streaming currents) in infinitely extended rectangular charged microchannels. With the aid of Fourier series and Laplace transforms we provide a general formal solution of the problem, which is used to study the time-dependent response to sudden ac applied voltage differences in case of finite electric double layer. The Debye-Huckel approximation has been adopted to allow for an algebraic solution of the Poisson-Boltzmann problem in Fourier space. We obtain the expressions of flow velocity profiles, flow rates, streaming currents, as well as expressions of the complex hydraulic and electrokinetic conductances. We analyze in detail the dependence of the electrokinetic conductance on the extension of linear dimensions relative to the Debye length, with an eye on finite electric double layer effects.

Chemistry, Physical↗

PubMed2005

On the development of a biomechatronic system to record tendon sliding movements.

The main goal of this paper is to study the feasibility of a novel implantable micro-system able to record information about tendon sliding movements by using contactless measurement devices (magnetic sources and sensors). The system, named "Biomechatronic Position Transducer" (BPT), can be used for the implementation of advanced control strategies in neuroprostheses. After a preliminary analysis based on finite element model simulations, an experimental setup was developed in order to simulate the recording conditions (the sensors fixed to the bones and the magnetic sources placed on the tendons). In order to limit the number of implanted components of the system, a fuzzy Mamdani-like architecture was developed to extract the information from the raw data. The results confirm the possibility of using the presented approach for developing an implantable micro-sensor able to extract kinematic information useful for the control of neuroprostheses. Future works will go in the direction of integrating and testing the sensors and the electronic circuitry (to provide power supply and to record the data) during in vitro and in situ experiments.

Biomechanical Phenomena↗

PubMed2005

Robotic techniques for upper limb evaluation and rehabilitation of stroke patients.

This paper presents two robot devices for use in the rehabilitation of upper limb movements and reports the quantitative parameters obtained to characterize the rate of improvement, thus allowing a precise monitoring of patient's recovery. A one degree of freedom (DoF) wrist manipulator and a two-DoF elbow-shoulder manipulator were designed using an admittance control strategy; if the patient could not move the handle, the devices completed the motor task. Two groups of chronic post-stroke patients (G1 n = 7, and G2 n = 9) were enrolled in a three week rehabilitation program including standard physical therapy (45 min daily) plus treatment by means of robot devices, respectively, for wrist and elbow-shoulder movements (40 min, twice daily). Both groups were evaluated by means of standard clinical assessment scales and a new robot measured evaluation metrics that included an active movement index quantifying the patient's ability to execute the assigned motor task without robot assistance, the mean velocity, and a movement accuracy index measuring the distance of the executed path from the theoretic one. After treatment, both groups improved their motor deficit and disability. In G1, there was a significant change in the clinical scale values (p < 0.05) and range of motion wrist extension (p < 0.02). G2 showed a significant change in clinical scales (p < 0.01), in strength (p < 0.05) and in the robot measured parameters (p < 0.01). The relationship between robot measured parameters and the clinical assessment scales showed a moderate and significant correlation (r > 0.53 p < 0.03). Our findings suggest that robot-aided neurorehabilitation may improve the motor outcome and disability of chronic post-stroke patients. The new robot measured parameters may provide useful information about the course of treatment and its effectiveness at discharge.

Aged↗

PubMed2005

A critical review of interfaces with the peripheral nervous system for the control of neuroprostheses and hybrid bionic systems.

Considerable scientific and technological efforts have been devoted to develop neuroprostheses and hybrid bionic systems that link the human nervous system with electronic or robotic prostheses, with the main aim of restoring motor and sensory functions in disabled patients. A number of neuroprostheses use interfaces with peripheral nerves or muscles for neuromuscular stimulation and signal recording. Herein, we provide a critical overview of the peripheral interfaces available and trace their use from research to clinical application in controlling artificial and robotic prostheses. The first section reviews the different types of non-invasive and invasive electrodes, which include surface and muscular electrodes that can record EMG signals from and stimulate the underlying or implanted muscles. Extraneural electrodes, such as cuff and epineurial electrodes, provide simultaneous interface with many axons in the nerve, whereas intrafascicular, penetrating, and regenerative electrodes may contact small groups of axons within a nerve fascicle. Biological, technological, and material science issues are also reviewed relative to the problems of electrode design and tissue injury. The last section reviews different strategies for the use of information recorded from peripheral interfaces and the current state of control neuroprostheses and hybrid bionic systems.

Animals↗

PubMed2004

Biomechanical analysis of Oligochaeta crawling.

Hydrostatic skeletons, such as that of Oligochaeta and Hirudinea, allow the locomotion of animals with soft segmented bodies. In this paper crawling of Oligochaeta, and in particular that of earthworm (Lumbricus terrestris), is analyzed from a biomechanical point of view, starting from the experimental kinematic description of deformations coupled with a simple friction model. The analysis is able to predict crawling velocity with an error of about 15% with respect to the experimental measured values. Also muscular stress during locomotion is evaluated and found to be compatible with biological values.

Animals↗

PubMed2004

An implantable telemetry platform system for in vivo monitoring of physiological parameters.

This paper describes a microcontroller-based multichannel telemetry system, suitable for in vivo monitoring of physiological parameters. The device can digitalize and transmit up to three analog signals coming from different sensors. The telemetry transmission is obtained by using a carrier frequency of 433.92 MHz and an amplitude-shift keying modulation. The signal data rate is 13 kb/s per channel. The digital microcontroller provides good flexibility and interesting performance, such as the threshold monitoring, the transmission error detection, and a low power consumption, thanks to the implementation of a sleep mode. The small overall size (less than 1 cm3), the power density compatible with current regulations for the design of implantable devices, and the dedicated packaging make the system suitable for in vivo monitoring in humans. The design, fabrication, operation, packaging, and performance of the system are described in this paper. An in vivo pressure monitoring case study is described as well.

Electronics, Medical↗

PubMed2003

Bio-inspired solutions for locomotion in the gastrointestinal tract: background and perspectives.

This paper illustrates a bio-inspired approach to effective, smooth and safe navigation in the human body and, in particular, in the gastrointestinal tract. This idea originates from the medical need to develop more powerful tools for microendoscopy, which is one of the most challenging frontiers of modern medicine. Understanding motion and perception systems of lower animal forms, such as parasites, worms, insects and snakes, can help to design and fabricate bio-inspired robots able to navigate in tortuous, slippery and difficult-to-access cavities of the human body. A preliminary study of a biomimetic adhesion system for the human tissues is presented in this work and some technological implementations are illustrated and discussed. Finally, some issues concerning the goals of smart and reactive locomotion are considered and the most promising and relevant enabling technologies are discussed.

Animals↗

PubMed2003

Automated assessment of cervical dystonia.

We developed an automated and objective method to measure posture and voluntary movements in patients with cervical dystonia using Fastrack, an electromagnetic system consisting of a stationary transmitter station and four sensors. The junction lines between the sensors attached to the head produced geometrical figures on which the corresponding aspects of the head were superimposed. The head position in the space was reconstructed and observed from axial, sagittal, and coronal planes. Four patients with cervical dystonia and 6 healthy subjects were studied. Each patient was representative of one of the typical patterns of cervical dystonia. The study allowed the authors to collect quantitative data on posture and range of motion of the head. This pilot study demonstrates the efficacy of the Fastrack system to objectively measure the head position in cervical dystonia patients.

Adult↗

PubMed2003

On the intersubject generalization ability in extracting kinematic information from afferent nervous signals.

In the recent past, many efforts have been carried out in order to evaluate the feasibility of implementing closed-loop controlled neuroprostheses based on the processing of sensory electroneurographic (ENG) signals. The success of these techniques mostly relies on the development of processing algorithms capable of extracting the necessary kinematic information from these signals. Soft-computing algorithms can be very useful when dealing with the complexity of the neuromuscular system because of their generalization ability and model-free structure. In this paper, these techniques were used to extract angular position information from the ENG signals recorded from muscle afferents in animal model using cuff electrodes. Specifically, a genetic algorithm-based dynamic nonsingleton fuzzy logic system (named GA-DNSFLS) was developed and tested on different types of angular trajectories (characterized by small or large angular excursions). In particular, two different Takagi-Sugeno-Kang (TSK)-like structures were used in the consequent part of the neuro-fuzzy model in order to verify which one could improve the generalization abilities (intrasubject and intersubject). The results showed that the GA-DNSFLS was able to reconstruct the trajectories giving interesting results in terms of correlation between the actual and the predicted trajectories for small excursion movements during intrasubject and intersubject tests. Particularly, one of the TSK models showed better results in terms of intersubject generalization. The simulations conducted with the large excursion movements led in some cases to interesting results but further experiments are necessary in order to analyze this point more in deep.

Action Potentials↗

PubMed2003

A sensorized thumb for force closed-loop control of hand neuroprostheses.

In this paper, we presented a sensorized thumb based on a matrix of piezoresistive force sensors, with an acquisition unit and a special wearing support. The sensor was calibrated and then the device was tested during different tasks simulating activities of daily living performed by seven able-bodied subjects. By means of these experiments, we verified that the device proposed can be used to extract force information during grasp. In fact, the device was able to provide useful force information in the 98% of the trials with a good repeatability during all the different conditions. Moreover, we evaluated the patterns obtained during the different grasping tasks. The palmar grasps were performed in a similar manner, whereas the lateral pinch and the spherical volar grip were more different. This device can provide force information with good performance and acceptability and it can be used for force closed-loop control of hand neuroprostheses.

Activities of Daily Living↗