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This paper presents the control architecture and the first performance evaluation results of a novel and highly-dexterous 18 degrees of freedom (DOF) miniature master/slave teleoperated robotic system called SPRINT (Single-Port la-paRoscopy bimaNual roboT). The system was evaluated in terms of positioning accuracy, repeatability, tracking error during local teleoperation and end-effector payload....
The quality of automated real-time critical care monitoring is impacted by the degree of signal artifact present in clinical data. This is further complicated when different clinical rules applied for disease detection require source data at different frequencies and different signal quality. This paper proposes a novel multidimensional framework based on service oriented architecture to support real-time...
Navigation and way finding including obstacle avoidance is difficult when visual perception is limited to low resolution, such as is currently available on a bionic eye. Depth visualisation may be a suitable alternative. Such an approach can be evaluated using simulated phosphenes with a wearable mobile virtual reality kit. In this paper, we present two novel approaches: (i) an implementation of depth...
This work discusses the architectural layout and performance results of a SoC design for parallel neural signal processing. Architectural framework for scalability and scalar reconfigurability are presented. Architectural requirements for massive parallelism in neural recordings are presented. Prototype architecture with dual processors and multi-level reconfigurable platform design is presented....
This paper presents a real-time implementation of an intent recognition system on one transfemoral (TF) amputee. Surface Electromyographic (EMG) signals recorded from residual thigh muscles and the ground reaction forces/moments collected from the prosthetic pylon were fused to identify three locomotion modes (level-ground walking, stair ascent, and stair descent) and tasks such as sitting and standing...
This paper presents a novel, low-cost, real-time adaptive multimedia environment for home-based upper extremity rehabilitation of stroke survivors. The primary goal of this system is to provide an interactive tool with which the stroke survivor can sustain gains achieved within the clinical phase of therapy and increase the opportunity for functional recovery. This home-based mediated system has low...
A robust medical monitoring device should be able to provide intelligent diagnosis based on accurate analysis of physiological parameters in real-time. At the same time, such device must be able to adapt to the characteristics of a specific patient and desired diagnostic needs, and continue to operate even in presence of unexpected artifacts and accidental errors. A reconfigurable architecture is...
Animal-Assisted Therapy (AAT) is the science that employs the merit of human-animal interaction to alleviate mental and physical problems of persons with disabilities. However, to achieve the goal of AAT for persons with severe disabilities (e.g. spinal cord injury and amyotrophic lateral sclerosis), real-time animal language interpretation is needed. Since canine behaviors can be visually distinguished...
Most medical devices are ‘dumb:’ their role is to acquire, display, and forward data. They make few if any operational decisions based on those data. Onboard tagging is a means whereby a device can embed information about itself, its data, and the sensibility of those data into its data stream. This diagnostic add-on offers a move toward ‘smart’ devices that will have the ability to affect changes...
A new suction detection algorithm for rotary Left Ventricular Assist Devices (LVAD) is presented. The algorithm is based on a Lagrangian Support Vector Machine (LSVM) model. Six suction indices are derived from the LVAD pump flow signal and form the inputs to the LSVM classifier. The LSVM classifier is trained and tested to classify pump flow patterns into three states: No Suction, Approaching Suction,...
“Musica delenit bestiam feram” translates into “Music soothes the savage beast”. There is a hidden truth in this ancient quip passed down from generations. Besides soothing the heart, it also incites the heart to a healthier level of heart rate variability (HRV). In this paper, an approach to use and test music and biofeedback to increase the heart rate variability for people facing daily stress is...
Electrocardiograms and other similar techniques (e.g. Photoplethysmograph) are very effective tools for the detection of cardiac abnormalities. Automated analyses of ECG signals may be used for this purpose, but due to their complexity — often involving a Neural Network or Principal Component Analysis — the signal needs to be transmitted to be analysed on a powerful device. Thus, even if signals are...
Optical imaging in vivo is an important tool for allowing researchers to understand neural ensemble interactions during awake behavior, sleep, anesthesia and during seizure activity. A major bottleneck in the overall efficiency of neural imaging experiments is the need for post-hoc analysis of imaging data. Computational capabilities are now at the point where real- or near-real-time multivariate...
With the introduction of intensive new treatments such as hypo-fractionation and proton beam therapy, localization of the tumor target volume and tracking of points across the skin entrance surface have become critically important. Optical metrology has been used to monitor the patient's bulk position and motion throughout treatment. However systems have not been capable of high temporal and spatial...
Continuous glucose monitoring (CGM) devices measure and record a patient's subcutaneous glucose concentration as frequently as every minute for up to several days. When coupled with data-driven mathematical models, CGM data can be used for short-term prediction of glucose concentrations in diabetic patients. In this study, we present a real-time implementation of a previously developed offline data-driven...
This paper is concerned with the design and development of a semi-autonomous wheelchair system using cameras in a system configuration modeled on the vision system of a horse. This new camera configuration utilizes stereoscopic vision for 3-Dimensional (3D) depth perception and mapping ahead of the wheelchair, combined with a spherical camera system for 360-degrees of monocular vision. This unique...
Movement misclassifications often occur during real-time pattern recognition control. Majority vote and a decision-based velocity ramp are two different post-processing methods that have been suggested to improve real-time control. With majority vote, spurious misclassifications are removed at the expense of an additional controller delay. With a decision-based velocity ramp, the effect of misclassifications...
BioMEMS electrode array fabrication techniques are used to develop high-density arrays with hundreds of channels. However, it was previously impossible to process more than a fraction of these channels real-time for online BCI experiments due to computational resource restraints. It is now possible to use graphics processing units (GPUs), which can have several hundred processing cores each, to processes...
Providing appropriate cardio-pulmonary reanimation after cardio-pulmonary arrest is paramount for survival. An effective and low-cost approach to learn and practice the cardio-pulmonary reanimation is through a computerized life-size patient simulator. The present work describes the development of a patient simulator for the Centre of Education and Certification of Medical Aptitudes (CECAM) from the...
A real-time Late Gadolinium Enhancement (LGE) MRI technique (free breathing and non-gated) is presented for detection of myocardial scars. Conventional LGE imaging methods currently in use are applied in conjunction with breath-hold and, thus, are difficult to use in patients with cardiac disease and may lead to motion artifacts. Additionally, conventional techniques involve ECG gating, which is problematic...
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