Keyword search (3,619 papers available)


Using intracellular plasmonics to characterize nanomorphology in human cells.

Author(s): Sohrabi Kashani A, Piekny A, Packirisamy M

Determining the characteristics and localization of nanoparticles inside cells is crucial for nanomedicine design for cancer therapy. Hyperspectral imaging is a fast, straightforward, reliable, and accurate method to study the interactions of nanoparticles ...

Article GUID: 33365137
Gold Nano-Island Platforms for Localized Surface Plasmon Resonance Sensing: A Short Review.

Author(s): Badilescu S, Raju D, Bathini S, Packirisamy M

Nano-islands are entities (droplets or other shapes) that are formed by spontaneous dewetting (agglomeration, in the early literature) of thin and very thin metallic (especially gold) films on a substrate, done by post-deposition heating or by using other s...

Article GUID: 33066088
Toward Task Autonomy in Robotic Cardiac Ablation: Learning-Based Kinematic Control of Soft Tendon-Driven Catheters.

Author(s): Jolaei M, Hooshiar A, Dargahi J, Packirisamy M

Soft Robot. 2020 Jul 14;: Authors: Jolaei M, Hooshiar A, Dargahi J, Packirisamy M

Article GUID: 32678722
Lab-On-A-Chip for the Development of Pro-/Anti-Angiogenic Nanomedicines to Treat Brain Diseases.

Author(s): Subramaniyan Parimalam S, Badilescu S, Sonenberg N, Bhat R, Packirisamy M

Int J Mol Sci. 2019 Dec 05;20(24): Authors: Subramaniyan Parimalam S, Badilescu S, Sonenberg N, Bhat R, Packirisamy M

Article GUID: 31817343
Nano-Bio Interactions of Extracellular Vesicles with Gold Nanoislands for Early Cancer Diagnosis.

Author(s): Bathini S, Raju D, Badilescu S, Kumar A, Ouellette RJ, Ghosh A, Packirisamy M

Res (Wash D C). 2018;2018:3917986 Authors: Bathini S, Raju D, Badilescu S, Kumar A, Ouellette RJ, Ghosh A, Packirisamy M

Article GUID: 31549028
Flow force augmented 3D suspended polymeric microfluidic (SPMF3 ) platform.

Author(s): Marzban M, Dargahi J, Packirisamy M

Electrophoresis. 2019 Feb;40(3):388-400 Authors: Marzban M, Dargahi J, Packirisamy M

Article GUID: 30025169
Tuning of Morphology and Stability of Gold Nanostars Through pH Adjustment.

Author(s): Kumar R, Badilescu S, Packirisamy M

J Nanosci Nanotechnol. 2019 Aug 01;19(8):4617-4622 Authors: Kumar R, Badilescu S, Packirisamy M

Article GUID: 30913757
Efficient Low Shear Flow-based Trapping of Biological Entities.

Author(s): Sohrabi Kashani A, Packirisamy M

Sci Rep. 2019 Apr 02;9(1):5511 Authors: Sohrabi Kashani A, Packirisamy M

Article GUID: 30940862
Acoustofluidic Micromixing Enabled Hybrid Integrated Colorimetric Sensing, for Rapid Point-of-Care Measurement of Salivary Potassium.

Author(s): Surendran V, Chiulli T, Manoharan S, Knisley S, Packirisamy M, Chandrasekaran A

Biosensors (Basel). 2019 May 28;9(2): Authors: Surendran V, Chiulli T, Manoharan S, Knisley S, Packirisamy M, Chandrasekaran A

Article GUID: 31141923
The effect of hydrogen nanobubbles on the morphology of gold-gelatin bionanocomposite films and their optical properties.

Author(s): Alsawafta M, Badilescu S, Truong VV, Packirisamy M

Nanotechnology. 2012 Feb 17;23(6):065305 Authors: Alsawafta M, Badilescu S, Truong VV, Packirisamy M

Article GUID: 22248640
Title:Toward Task Autonomy in Robotic Cardiac Ablation: Learning-Based Kinematic Control of Soft Tendon-Driven Catheters.
Authors:Jolaei M,  Hooshiar A,  Dargahi J,  Packirisamy M
Link:https://www.ncbi.nlm.nih.gov/pubmed/32678722
DOI:10.1089/soro.2020.0006
Category:Soft Robot
PMID:32678722
Dept Affiliation: ENCS
1 Robotic Surgery Laboratory and Mechanical, Industrial, and Aerospace Engineering Department, Concordia University, Montreal, Canada.
2 Optical Bio-microsystems Laboratory, Mechanical, Industrial, and Aerospace Engineering Department, Concordia University, Montreal, Canada.

Description:

Toward Task Autonomy in Robotic Cardiac Ablation: Learning-Based Kinematic Control of Soft Tendon-Driven Catheters.

Soft Robot. 2020 Jul 14;:

Authors: Jolaei M, Hooshiar A, Dargahi J, Packirisamy M

Abstract

The goal of this study was to propose and validate a control framework with level-2 autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a kinematic model for the flexible portion of typical ablation catheters was developed and a 40-mm-long spring-loaded flexible catheter was fabricated. The feasible space of the catheter was obtained experimentally. Furthermore, a robotic catheter intervention system was prototyped for controlling the length of the catheter tendons. The proposed control framework used a support vector machine classifier to determine the tendons to be driven, and a fully connected neural network regressor to determine the length of the tendons. The classifier and regressors were trained with the data from the feasible space. The control system was implemented in parallel at user-interface and firmware and exhibited a 0.4-s lag in following the input. The validation studies were four trajectory tracking and four target reaching experiments. The system was capable of tracking trajectories with an error of 0.49?±?0.32 and 0.62?±?0.36?mm in slow and fast trajectories, respectively. Also, it exhibited submillimeter accuracy in reaching three preplanned targets and ruling out one nonfeasible target autonomously. The results showed improved accuracy and repeatability of the position control compared with the recent literature. The proposed learning-based approach could be used in enabling task autonomy for catheter-based ablation therapies.

PMID: 32678722 [PubMed - as supplied by publisher]