Use of Robotics in Pediatric Applications Gregory Auner Wayne …€¦ · Pediatrics 2040 Conference – 10/3/2013 4:35 PM –Greg Auner, PhD 7 Tryptophan is an essential amino acid

Pediatrics 2040 Conference – 10/3/2013 4:35 PM – Greg Auner, PhD

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Use of Robotics in Pediatric ApplicationsUse of Robotics in Pediatric ApplicationsGregory AunerGregory Auner

Wayne State UniversityWayne State University


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Micro Robotics

1 cm

Ho, et. Al. IEEE TRANSACTIONS ON ROBOTICS, VOL. 28, NO. 1, FEBRUARY 2012


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Shape Memory Alloy

Super Robotic Senses


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Robotic Senses


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INTEGRATION OF RAMAN SPECTROSCOPY IN ROBOTICS

IncidentLaser Light

Stokes Raman

Rayleigh

Raman Spectroscopy

Laser Light

Anit‐StokesRamanE

S1

Stokes Raman Anti‐Stokes RamanV

S1Virtual VibrationalEnergy Level

hv0 hvrhv0 hvr

hv1S0


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O

H H

Water is not centrosymmetric. Therefore it does not obey rule of mutual exclusion.

H HH H

H HO

HH

OH

HH

H

O

Bend1595 1/cm

Asymmetric3490 1/cm

Symmetric3657 1/cm

Polarizability ellipsoid. Magnitude does not change much. Weakly Raman active.

l h h h l b

Polarizability ellipsoid. Magnitude is changing Raman active.

Polarizability ellipsoid. Magnitude does not change much. Weakly Raman active.

Dipole changes on passing through equilibrium position IR active Dipole changes on passing through equilibrium

position IR active

Dipole changes on passing through equilibrium position IR active

Polarizability Dipole MomentPolarizability Dipole Moment Polarizability Dipole Moment

CO OCarbon dioxide is centrosymmetric. It obeys rule of mutual exclusion: IR active modes are Raman inactive and vice versa

Polarizability is constant passing through an equilibrium position. Raman inactive.

Dipole changes sign. IR active

O O

O OC OO

Bend667 1/cm

Symmetric1388 1/cm

Asymentric2349 1/cm

Polarizability changes passing thorough an equilibrium position. Raman active.

Molecule remains symmetric. No dipole

Polarizability is constant passing through an equilibrium position. Raman inactive.

Dipole changes sign. IR active

OO O O OOC C

moment. IR inactive

Polarizability Dipole Moment Polarizability Dipole Moment Polarizability Dipole Moment


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Tryptophan is an essential amino acid with chemical the formula C11H12N2O2. It has a Molar mass 204.225 g/mol. The distinguishing structural characteristic is that it contains an indole functional group.

Raman Spectraobtained with 785 nm excitation wavelength.

IR Absorbance spectra

Raman Projects

Cancer Tissues

Lung Cancer EsophagusBrain

CancerBreast Cancer

Thyroid

Immune System

T‐CellsHPV MarkersCirculating tumor cells

Stem Cells

Fresh

Frozen

Adeno‐carcinoma

Cancer

Glioma

Tissues

Cancer

Allergy

Trans‐plant

Cervical Cancer

Heart failure

TBI

tumor cells

GBM Cells

Breast Cancer

Cells and Tissues

Follicular Adenoma

Head/Neck

HPV Cervical Tissues

Blood

Saliva

Ovarian Cancer

Pediatric Cancer

Prostate Cancer

Adipose Tissue


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Identifying Small Round Blue TumorsNeuroblastoma, Ewing Sarcoma, Rhabdomyosarcoma, non-

Hodgkin Lymphoma


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Gram Positive BacteriaGram Positive Bacteria Gram Negative BacteriaGram Negative Bacteria


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SpeciesSpeciesGenusGenusFamilyFamilyOrderOrderClassClass

Listeriaceae Listeria L. monocytogenes

Phylum: Firmicutes (Gram‐positive)

Bacilli

Bacillales

monocytogenes

Bacillacea Bacillus B. Subtilis

Staphylococcaceae Staphylococcus S. Aures

Lactobacillales Streptococcaceae Streptococcus S. pyogenes

StrainStrainSpeciesSpeciesGenusGenusFamilyFamilyOrderOrderClassClass

O157

Phylum: Proteobacteria (Gram Negative)

Gamma

Enterobacteriales Enterobacteriaceae

Escherichia E. Coli K99

O111

Salmonella

Typhimurium

Schottmuelleri

Rahnella Aquatilis

Entrobacter AmnigenusGamma Proteobacteria

Entrobacter Amnigenus

Pseudomonadales Pseudomonadaceae Pseudomonas Aeruginosa

Vibrionales Vibrionaceae Vibrio Fluvialis


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S. Aureus and Raman• Raman spectroscopy can…..

l MRSA f S A l i h– rule out MRSA from a S. Aureus sample with approximately 90% certainty

– detect Reduced Vancomycin Susceptibility in an MRSA sample with 95% sensitivity

Penicillin‐binding proteins (PBPs)

PBPs are a group of proteins, characterized for their affinity to penicillin, arefound as both membrane‐bound and cytoplasmic proteins of bacteria.

PBPs are all involved in the final stages of the synthesis of petidoglycan a majorPBPs are all involved in the final stages of the synthesis of petidoglycan, a majorcomponent of bacterial cell walls, and catalyze the formation of peptidecrosslinks between the glycan chains of the cell wall.

Peptidoglycanlayers

Inner plasma membrane

Periplasmic space


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MRSA vs. MSSA

Piezoelectric Haptic Feedback Ring SystemFeatures:• Two Piezoelectric haptic feedback actuators per ring (A)• Finger tip actuator (B)• Finger sizing flexible inner ring (C)

otic Hand Fingertip Sensors

A

• Flexible ring connection points (D)A B C DB

C D

Features:• Piezoelectric haptic sensors on robotic finger (A Top View) (B

Bottom View)• Fingertip Camera System (C)• Fingertip Ultrasound System (D)


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HAPTICS AND ULTRA SENSITIVE TOUCH


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Excimer Laser Micromachining of microgroovesExcimer Laser Micromachining of microgrooves

SAW sensor for liquid applications-6 0

-4 0

2 3 0 2 4 0 2 5 0 2 6 0 2 7 0-1 2 0

-1 0 0

-8 0dB

f (M H z )f (M H z )


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PZT‐5H size Si size Voltage z movement Stroke Volume Theoretical(mm) (mm) (V) (um) ( ml=10‐6 m3) Pump rate at

200Hz (ml/min)0.127x4x4 0.04x5x5 127 4.7 0.0000425 1.020.191x8x8 0.1x10x10 191 9.8 0.00037 8.90.267x12x12 0.12x15x15 267 16.2 0.00137 32.9 0.267x16x16 0.16x20x20 267 20.3 0.00306 73.4

4-D Ultrasound


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Virtual Biopsy by ultrasound(Millimeter Level)

Virtual biopsy by 4‐D UltrasoundVirtual biopsy by 4‐D Ultrasound


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Ultrasonic Holography and CMOS Readout Chip designUltrasonic Holography and CMOS Readout Chip design


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Strike II: Tissue Morphology

Exoskeleton for Enabling


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Exoskeleton- and enabling technology

CNS Implants


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History of Nanotechnology

• ~ 2000 Years Ago – Sulfide nanocrystals used by Greeks and Romans to dye hair

• ~ 1000 Years Ago (Middle Ages) – Gold nanoparticles of different sizes used to produce different colors in stained glass windows

• 1959 “There is plenty of room at the bottom” by R Feynman• 1959 – There is plenty of room at the bottom by R. Feynman

• 1974 – “Nanotechnology” - Taniguchi uses the term nanotechnology for the first time

• 1981 – IBM develops Scanning Tunneling Microscope

• 1985 – “Buckyball” - Scientists at Rice University and University of Sussex discover C60

• 1986 – “Engines of Creation” - First book on nanotechnology by K. Eric Drexler. Atomic Force Microscope invented by Binnig, Quate and Gerbe

• 1989 – IBM logo made with individual atoms

• 1991 – Carbon nanotube discovered by S. Iijima

• 1999 – “Nanomedicine” – 1st nanomedicine book by R. Freitas

• 2000 – “National Nanotechnology Initiative” launched

The future of Robotics?


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Nanoscale Materials Nanoscale materials have feature size less than 100 nm – utilized in nanoscale structures, devices and systemsin nanoscale structures, devices and systems

Nanoparticles and Structures

Silver nanoparticles –Northwestern Univ., 2002

A stadium shaped “quantum corral” made by positioning iron atoms on a copper surface – IBM Corp., 1993.

A 3-dimensional nanostructure grown by controlled nucleation of Silicon-carbide nanowires on Gallium catalyst particles – Univ. of Cambridge, 2007

Gold nanoparticles – TU Dresden/ESRF, 2008

What is Nanotechnology

N h l i h i f f i l i l d i d h h

An engineered DNA strandSemiconducting metal junction formed by two carbon nanotubes

pRNA tiny motor

Nanotechnology is the creation of functional materials, devices and systems, throughthe understanding and control of matter at dimensions in the nanometer scale length(1‐100 nm), where new functionalities and properties of matter are observed andharnessed for a broad range of applications


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• Henry Ford Innovation Institute,and the WSU Department of Surgery• Students (Graduate, Medical, & Undergraduate)

H h H i d K l Li

Contributors

– Heather Hanni and Krystal Lia

• Engineers– Alex Cao, Dr. Michelle Brusatori, Dr. Joe Smolinski , Dr.Rachel Kast

• Faculty Dr. Gregory Auner, Dr. Rachel Kast, Dr. Michelle Brusatori

• Pathologistsg– Dr. Rajah Rabah, Dr. Janet Poulik, Dr. Volkan Adsay, Dr. Fred Miller

• Surgeons– Dr. Madhu Prasad, Dr. Mike Simof, Dr. Scott Gruber, Kristan Brown, Dr. Michael Klein, Dr.

Donald Weaver,, Dr. Chris, And many Others

Questions?

Documents

Use of Robotics in Pediatric Applications Gregory Auner Wayne …€¦ · Pediatrics 2040 Conference – 10/3/2013 4:35 PM –Greg Auner, PhD 7 Tryptophan is an essential amino acid