Abstract Including sensor information in medical interventions aims to support surgeons decide on subsequent action steps by characterizing tissue intraoperatively. With bladder cancer, an important issue is tumor recurrence because of failure remove the entire tumor. Impedance measurements can help classify and give indication how much remove. Over years research, it became obvious that electrical impedance spectroscopy a very promising tool for differentiation, but also sensitive one....

<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Objective:</i> Bladder cancer recurrence is an important issue after endoscopic urological surgeries. Additional sensor information such as electrical impedance measurements aim to support surgeons ensure that the entirety of tumor removed. The foundation for differentiating lies in altered sodium contents and cell structures within tumors change their conductivity permittivity. Mechanical...

Bladder tumor recurrence is a serious problem in uro-oncology, as it increases the risk of fatal progression and makes further surgeries necessary. The possibility intraoperative tissue differentiation can help for diagnostic purposes well ensuring that entirety removed. latter not only differ visually from healthy tissue, but also their mechanical electrical properties due to an altered physiology. A possible base are impedance measurements, which are, however, difficult obtain passing...

Nowadays, robots are an essential part of modern production lines, usually working in a designated area since they can pose threat to human workers. The so-called soft constitute human-friendly alternative classic industrial robots, even allowing for human-machine collaboration. This is possible due their and therefore inherent safe structure. In this paper we consider quasi continuum manipulators (QCMs), special kind robots. Their dynamic behavior affected by friction as well materials....

Introduction A mathematical model of the pituitary-thyroid feedback loop is extended to deepen understanding Allan-Herndon-Dudley syndrome (AHDS). The AHDS characterized by unusual thyroid hormone concentrations and a mutation in SLC16A2 gene encoding for monocarboxylate transporter 8 (MCT8). This leads loss transport activity. One hypothesis explain patients that due activity, thyroxine ( T 4 ) partially retained cells. Methods investigated extending include net effects membrane...

This paper presents a concept of model-based localization algorithm for deformable systems. The proposed approach considers real-time co-simulation to predict deformations. simulated deformations are incorporated in state-of-the-art simultaneous and mapping (SLAM) enable precise an endoscopic, non-rigid environment. To demonstrate the potential SLAM algorithm, simulation results synthetic environment discussed. Therefore, ideal model accurate knowledge acting forces assumed. work is intended...

Abstract The inherent compliant and safe structure of fluid driven continuum manipulators makes them a promising solution for various tasks. Despite their cheap production costs these robots have yet not found way into industrial applications. This is due to the lack precise models as well control strategies which are both open fields research. A basic task force manipulator exerts at its tool center point on given object. In this work we present hybrid force/position controller (HFPC)...

Monocular depth estimation from camera images is very important for surrounding scene evaluation in many technical fields automotive to medicine. However, traditional triangulation methods using stereo cameras or multiple views with the assumption of a rigid environment are not applicable endoscopic domains. Particularly cystoscopies it possible produce ground truth information directly train machine learning algorithms monocular image prediction. This work considers first creating synthetic...

Abnormalities in tissue can be detected and analyzed by evaluating mechanical properties, such as strain stiffness. While current sensor systems are effective measuring longitudinal properties perpendicular to the measurement sensor, identifying in-plane deformation remains a significant challenge. To address this issue, paper presents novel method for reconstructing of observed surfaces using fringe projection specifically designed deformations. The employs latest techniques from computer...

Correctly classifying tumorous tissue and the resection margins proves to be a difficult task in endoscopic bladder cancer surgeries. As tumor shows altered electrical properties, intraoperative impedance measurements can support surgeon classify tissue. An important step this process is decision on how pass information classification algorithm. This either form of raw measurement vector or based parameters extracted from measurement. These arise curve characteristics Nyquist diagram,...

Abstract Objective A mathematical model of the pituitary-thyroid feedback loop is extended to deepen understanding Allan-Herndon-Dudley syndrome (AHDS). Background The AHDS characterized by unusual thyroid hormone concentrations and a mutation in SLC16A2 gene encoding for monocarboxylate transporter 8 (MCT8). This leads loss transport activity. One hypothesis explain patients that due activity, thyroxine ( T 4 ) partially retained cells. Methods investigated extending include net effects...

Impedance spectroscopy is a useful diagnostic tool in oncology to determine malignant and healthy tissue areas. However, since the electrical measurements are sensitive enough detect structural changes tissue, they also prone exterior influences such as contact force of sensor mechanical stress tissue. These disturbances might predominate properties make differentiation difficult. In this work, multi-physical model for electro-mechanical coupling during impedance established. Increasing...

A multi-physical model of a human urinary bladder is an essential element for the potential application electrical impedance spectroscopy during transurethral resection surgery, where measurements are taken at different fill levels inside bladder. This work derives tissue that incorporates properties with dependence on mechanical deformation due to filling The volume and ratio intracellular extracellular fluid heavily influence characteristics thus provide connection between domains....

Even after successful tumor resection, cancer recurrence remains an important issue for bladder tumors. Intra-operative tissue differentiation can help diagnostic purposes as well ensuring that all cancerous cells are completely removed, therefore, decreasing the risk of recurrence. It has been shown electrical properties tumors differ from healthy due to altered physiology. This work investigates three sensor configurations measure impedance tissue. Each relies on a four terminal...

Populations do not only interact over time but also age time. It is therefore common to model them as age-structured PDEs, where the space variable. Since models involve integrals age, both in birth process and interaction among species, they are fact integro-partial differential equations (IPDEs) with positive states. To regulate population densities desired profiles, harvesting used input. But non-discriminating harvesting, wanting repress one species will inevitably other well, positivity...

Abstract Electrical impedance spectroscopy is promising for intraoperative cancer diagnosis by differentiating tissue based on its electrical properties, yet faces challenges from material nonlinearities and sensor effects. In this study, 3D finite element simulations were performed to analyze geometric dependencies. Two different tetrapolar ring electrode layouts are placed virtual piece of normal tumor with each radius varied using Monte Carlo the resulting impedances cell constants...

Electrical mpedance measurements are a promising method for detecting structural changes in tissue and can be used oncology to differentiate between healthy tumorous areas. The impedance so sensitive that they not only affected by the itself, but also fluctuating contact force sensor tissue. In this work, correlation movements during measuring process, such as physiological tremors, analyzed. To do this, taken on pig bladders sensor-tissue is simultaneously recorded. tremor frequencies...