PREFACE The advantages which have been derived from the caution with which hypothetical statements are admitted, are in no instance more obvious than in those sciences which more particularly belong to the healing art. It therefore is necessary, that some conciliatory explanation should be offered for the present publication: in which, it is acknowledged, that mere conjecture takes the place of experiment; and, that analogy is the substitute for anatomical examination, the only sure foundation for pathological knowledge. When, however, the nature of the subject, and the circumstances under which it has been here taken up, are considered, it is hoped that the offering of the following pages to the attention of the medical public, will not be severely censured. The disease, respecting which the present inquiry is made, is of a nature highly afflictive. Notwithstanding which, it has not yet obtained a place in the classification of nosologists; some have regarded its characteristic symptoms as distinct and different diseases, and others have given its name to diseases differing essentially from it; whilst the unhappy sufferer has considered it as an evil, from the domination of which he had no prospect of escape. The disease is of long duration: to connect, therefore, the symptoms which occur in its later stages with those which mark its commencement, requires a continuance of observation of the same case, or at least a correct history of its symptoms, even for several years. Of both these advantages the writer has had the opportunities of availing himself, and has hence been led particularly to observe several other cases in which the disease existed in different stages of its progress. By these repeated observations, he hoped that he had been led to a probable conjecture as to the nature of the malady, and that analogy had suggested such means as might be productive of relief, and perhaps even of cure, if employed before the disease had been too long established. He therefore considered it to be a duty to submit his opinions to the examination of others, even in their present state of immaturity and imperfection. To delay their publication did not, indeed, appear to be warrantable. The disease had escaped particular notice; and the task of ascertaining its nature and cause by anatomical investigation, did not seem likely to be taken up by those who, from their abilities and opportunities, were most likely to accomplish it. That these friends to humanity and medical science, who have already unveiled to us many of the morbid processes by which health and life is abridged, might be excited to extend their researches to this malady, was much desired; and it was hoped, that this might be procured by the publication of these remarks. Should the necessary information be thus obtained, the writer will repine at no censurewhich the precipitate publication of mere conjectural suggestions may incur: but shall think himself fully rewarded by having excited the attention of those, who may point out the most appropriate means of relieving a tedious and most distressing malady.

An Essay on the Shaking Palsy

Unified Parkinson's Disease Rating Scale

We describe a MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues. During procedures, such as diagnostic biopsies and localized treatments, it is useful to track any tool deviation from the planned trajectory to minimize positioning errors and procedural complications. The goal is to display tool deflections in real time, with greater bandwidth and accuracy than when viewing the tool in MR images. A standard 18 ga × 15 cm inner needle is prepared using a fixture, and 350-μm-deep grooves are created along its length. Optical fibers are embedded in the grooves. Two sets of sensors, located at different points along the needle, provide an estimate of the bent profile, as well as temperature compensation. Tests of the needle in a water bath showed that it produced no adverse imaging artifacts when used with the MR scanner.

/pdf/real-time-estimation-of-3-d-needle-shape-and-deflection-for-1gnuy38m3t.pdf

Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions

An apparatus and method for diagnosis or treatment of a vessel or organ. The apparatus includes a deformable body such as a catheter having a tissue ablation end effector and an irrigation channel in fluid communication therewith. At least two sensors are disposed within a distal extremity of the deformable body, the sensors being responsive to a wave in a specified range of frequency to detect deformations resulting from a contact force applied to the distal extremity. A microprocessor can be operatively coupled with the sensors to receive outputs therefrom, the microprocessor being configured to resolve a multi-dimensional force vector corresponding to the contact force. In one embodiment, the sensors are fiber Bragg grating sensors, and the wave is injected into the fiber Bragg grating strain sensors from a laser diode.

Medical apparatus system having optical fiber load sensing capability

Continuum robots provide inherent structural compliance with high dexterity to access the surgical target sites along tortuous anatomical paths under constrained environments and enable to perform complex and delicate operations through small incisions in minimally invasive surgery These advantages enable their broad applications with minimal trauma and make challenging clinical procedures possible with miniaturized instrumentation and high curvilinear access capabilities However, their inherent deformable designs make it difficult to realize 3-D intraoperative real-time shape sensing to accurately model their shape Solutions to this limitation can lead themselves to further develop closely associated techniques of closed-loop control, path planning, human–robot interaction, and surgical manipulation safety concerns in minimally invasive surgery Although extensive model-based research that relies on kinematics and mechanics has been performed, accurate shape sensing of continuum robots remains challenging, particularly in cases of unknown and dynamic payloads This survey investigates the recent advances in alternative emerging techniques for 3-D shape sensing in this field and focuses on the following categories: fiber-optic-sensor-based, electromagnetic-tracking-based, and intraoperative imaging modality-based shape-reconstruction methods The limitations of existing technologies and prospects of new technologies are also discussed

Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey

In recent years, surface electromyography (sEMG) signals have been increasingly used in pattern recognition and rehabilitation. In this paper, a real-time hand gesture recognition model using sEMG is proposed. We use an armband to acquire sEMG signals and apply a sliding window approach to segment the data in extracting features. A feedforward artificial neural network (ANN) is founded and trained by the training dataset. A test method is used in which the gesture will be recognized when recognized label times reach the threshold of activation times by the ANN classifier. In the experiment, we collected real sEMG data from twelve subjects and used a set of five gestures from each subject to evaluate our model, with an average recognition rate of 98.7% and an average response time of 227.76 ms, which is only one-third of the gesture time. Therefore, the pattern recognition system might be able to recognize a gesture before the gesture is completed.

https://www.mdpi.com/1424-8220/19/14/3170/pdf

Real-Time Surface EMG Pattern Recognition for Hand Gestures Based on an Artificial Neural Network.

Colonoscopy is now the gold standard method for investigating most colonic symptoms. In the process of diagnosis, it is easy to cause the apex of loop splitting the colonic wall because the shape of colon is invisible for the colonoscopist who only relies on his experience to insert the colonoscope into the body and it brings the patients much pain and danger. So shape sensing technologies for colonoscope become a focus of this research field. At present, one solution is magnetic-based shape sensing system, but this technology must work in a non-metallic operating ambient. This paper presents an innovative way which use base-Fiber Bragg Grating (FBG) senor array to reconstruction the shape of colonoscope while advancing inside the colon. In this paper design and packing of shape sensing sensor is discussed and shape reconstruction principle based on differential geometry is described. Some simulation and model experiments have been done to testify validity of shape sensing.

An Innovative 3D Colonoscope Shape Sensing Sensor Based on FBG Sensor Array

A novel slim FBG (fiber Bragg grating) sensor wire and its application in real-time dynamic shape detection of colonoscopes are presented. The SDIM/WDM (spatial division multiplex and wavelength division multiplex) sensing network is composed of 20 FBG sensors in four channels. The sensors are mounted on the body of a slim flexible wire, which can be inserted into the biopsy channel of a colonoscope. The FBG sensors are used to capture deformation of the sensor wire. A signal processing system and novel software are designed to reconstruct the shape of the colonoscope. Configuration of experimental system, experimental results and the temperature influence are also discussed.

On SDM/WDM FBG sensor net for shape detection of endoscope

The present invention relates to a space form detection device of fine-long flexible bar and its detection method. Said device is composed of fine-long flexible bar, fiber-optic grating sensor array, fiber-optic grating modulator-demodulator, local area network router, data acquisition and data processing module and display equipment. The space form detection method of fine-long flexible bar includes the following steps: utilizing a group of grating array formed from four optical fibers arranged on the fine-long flexible bar, utilizing scale factor between the off-line labeled curvature and wavelength and utilizing fiber-optic grating modulator and demodulator to measure wavelengths of 20 raster points in five discrete points of fine-long flexible bar in the space so as to obtain the space curvature size and direction of discrete point position, then utilizing data processing module to reconstruct the form of said fine-long flexible bar in space. Said device can be used for making real-time tracking detection of human body cavity channel and fine-small vessel forms in the therapeutic process.

Thin long flexible rod spatial shape detecting device and method

The invention relates to an active partial body weight support treadmill training device and an active partial body weight support treadmill training method. The device comprises a force sensor, a support, a treadmill, and a partial body weight support mechanism. During the training, a patient is positioned on the treadmill and is connected to a steel wire rope through a sling, one end of the steel wire rope is provided with a winch which can adjust the length of the steel wire rope according to the height of the patient, while the other end is connected to the partial body weight support mechanism which is used for providing a partial body weight support force, and the partial body weight support force can be given according to the requirement of a doctor. During the whole training process, the force sensor is used to detect the actual partial body weight support force and feed back the actual partial body weight support force to a virtual instrument to realize closed-loop control, so that the constancy of the partial body weight support force is ensured. The active partial body weight support method can effectively improve the effect of partial body weight support treadmill training, has simple operation, and is suitable for rehabilitation training in hospitals and families.

Jinwu Qian

Papers

Real-Time Surface EMG Pattern Recognition for Hand Gestures Based on an Artificial Neural Network.

An Innovative 3D Colonoscope Shape Sensing Sensor Based on FBG Sensor Array

On SDM/WDM FBG sensor net for shape detection of endoscope

Thin long flexible rod spatial shape detecting device and method

Active partial body weight support treadmill training device and active partial body weight support treadmill training method