BACKGROUND:In image-guided robotic interventions, an error component is related to the positioning error of the manipulator. Therefore, measuring the kinematic error is required during robot development. However, no specialized measurement device exists for this task. This study explores the possibility of using optical tracking for robot measurement.METHODS:A CNC machine is used to position an optical marker, generating a gold standard reference. Repeated position measurements are acquired with an NDI Polaris Hybrid® optical tracker at each static location, and averaged. These measurements are compared to the reference set.RESULTS:Averaging repeated static position measurements improves precision (200-500 samples). Measurement accuracy ranges between 44 μm and 137 μm in close proximity of the tracker.CONCLUSIONS:Repeated static position measurements in the near field of view enable the optical tracker to outperform its general-purpose accuracy specification. Optical tracking may be used to test robot kinematics with a high degree of accuracy.

A fundamental challenge in soft-tissue surgery is that target tissue moves and deforms, becomes occluded by blood or other tissue, and is difficult to differentiate from surrounding tissue. We developed small biocompatible near-infrared fluorescent (NIRF) markers with a novel fused plenoptic and NIR camera tracking system, enabling three-dimensional tracking of tools and target tissue while overcoming blood and tissue occlusion in the uncontrolled, rapidly changing surgical environment. In this work, we present the tracking system and marker design and compare tracking accuracies to standard optical tracking methods using robotic experiments. At speeds of 1 mm/s, we observe tracking accuracies of 1.61 mm, degrading only to 1.71 mm when the markers are covered in blood and tissue.

An endoscopic imaging system using a plenoptic technique to reconstruct 3-D information is demonstrated and analyzed in this Letter. The proposed setup integrates a clinical surgical endoscope with a plenoptic camera to achieve a depth accuracy error of about 1 mm and a precision error of about 2 mm, within a 25 mm × 25 mm field of view, operating at 11 frames per second.

This paper specifies a surgical robot performing semi-autonomous electrosurgery for tumor resection and evaluates its accuracy using a visual servoing paradigm. We describe the design and integration of a novel, multi-degree of freedom electrosurgical tool for the smart tissue autonomous robot (STAR). Standardized line tests are executed to determine ideal cut parameters in three different types of porcine tissue. STAR is then programmed with the ideal cut setting for porcine tissue and compared against expert surgeons using open and laparoscopic techniques in a line cutting task. We conclude with a proof of concept demonstration using STAR to semi-autonomously resect pseudo-tumors in porcine tissue using visual servoing. When tasked to excise tumors with a consistent 4mm margin, STAR can semi-autonomously dissect tissue with an average margin of 3.67 mm and a standard deviation of 0.89mm.

A fundamental challenge in soft-tissue surgery is that target tissue moves and deforms, becomes occluded by blood or other tissue, and is difficult to differentiate from surrounding tissue. We developed small biocompatible near-infrared fluorescent (NIRF) markers with a novel fused plenoptic and NIR camera tracking system, enabling 3D tracking of tools and target tissue while overcoming blood and tissue occlusion in the uncontrolled, rapidly changing surgical environment. In this work, we present the tracking system and marker design and compare tracking accuracies to standard optical tracking methods using robotic experiments. At speeds of 1 mm/s, we observe tracking accuracies of 1.61 mm, degrading only to 1.71 mm when the markers are covered in blood and tissue.

Three-dimensional endoscopic imaging using plenoptic technique combined with F-matching algorithm has been pursued in this study. A custom relay optics was designed to integrate a commercial surgical straight endoscope with a plenoptic camera.

Three-dimensional sensing of changing surgical scenes would improve the function of surgical robots. This paper explores the requirements and utility of a new type of depth sensor, the plenoptic camera, for surgical robots. We present a metric calibration procedure for the plenoptic camera and the registration of its coordinate frame to the robot (hand-eye calibration). We also demonstrate the utility in robotic needle insertion and application of sutures in phantoms. The metric calibration accuracy is reported as 1.14 ± 0.80 mm for the plenoptic camera and 1.57 ± 0.90 mm for hand-eye calibration. The accuracy of needle insertion task is 1.79 ± 0.35 mm for the entire robotic system. Additionally, the accuracy of suture placement with the presented system is reported at 1.80 ± 0.43 mm. Finally, we report consistent suture spacing with only 0.11 mm standard deviation between inter-suture distances. The measured accuracy of less than 2 mm with consistent suture spacing is a promising result to provide repeatable leak-free suturing with a robotic tool and a plenoptic depth imager.

We present here the methodology and results of the Operational Acceptance Test (OAT) performed on the new Kennedy Space Center (KSC) 50-MHz Doppler Radar Wind Profiler (DRWP). On day-of-launch (DOL), space launch vehicle operators have used data from the DRWP to invalidate winds in prelaunch loads and trajectory assessments due to the DRWP’s capability to quickly identify changes in the wind profile within a rapidly-changing wind environment. The previous DRWP has been replaced with a completely new system, which needs to undergo certification testing before being accepted for use in range operations. The new DRWP replaces the previous three-beam system made of coaxial cables and a copper wire ground plane with a four-beam system that uses Yagi antennae with enhanced beam steering capability. In addition, the new system contains updated user interface software while maintaining the same general capability as the previous system. The new DRWP continues to use the Median Filter First Guess (MFFG) algorithm to generate a wind profile from Doppler spectra at each range gate. DeTect (2015) contains further details on the upgrade. The OAT is a short-term test designed so that end users can utilize the new DRWP in a similar manner to the previous DRWP during mission operations at the Eastern Range in the midst of a long-term certification process. This paper describes the Marshall Space Flight Center Natural Environments Branch’s (MSFC NE’s) analyses to verify the quality and accuracy of the DRWP’s meteorological data output as compared to the previous DRWP. Ultimately, each launch vehicle program has the responsibility to certify the system for their own use.

The current paradigm of robot-assisted surgeries (RASs) depends entirely on an individual surgeon's manual capability. Autonomous robotic surgery-removing the surgeon's hands-promises enhanced efficacy, safety, and improved access to optimized surgical techniques. Surgeries involving soft tissue have not been performed autonomously because of technological limitations, including lack of vision systems that can distinguish and track the target tissues in dynamic surgical environments and lack of intelligent algorithms that can execute complex surgical tasks. We demonstrate in vivo supervised autonomous soft tissue surgery in an open surgical setting, enabled by a plenoptic three-dimensional and near-infrared fluorescent (NIRF) imaging system and an autonomous suturing algorithm. Inspired by the best human surgical practices, a computer program generates a plan to complete complex surgical tasks on deformable soft tissue, such as suturing and intestinal anastomosis. We compared metrics of anastomosis-including the consistency of suturing informed by the average suture spacing, the pressure at which the anastomosis leaked, the number of mistakes that required removing the needle from the tissue, completion time, and lumen reduction in intestinal anastomoses-between our supervised autonomous system, manual laparoscopic surgery, and clinically used RAS approaches. Despite dynamic scene changes and tissue movement during surgery, we demonstrate that the outcome of supervised autonomous procedures is superior to surgery performed by expert surgeons and RAS techniques in ex vivo porcine tissues and in living pigs. These results demonstrate the potential for autonomous robots to improve the efficacy, consistency, functional outcome, and accessibility of surgical techniques.

Anastomosis, the connection of two structures, is a critical procedure for reconstructive surgery with over 1 million cases/year for visceral indication alone. However, complication rates such as strictures and leakage affect up to 19% of cases for colorectal anastomoses and up to 30% for visceral transplantation anastomoses. Local ischemia plays a critical role in anastomotic complications, making blood perfusion an important indicator for tissue health and predictor for healing following anastomosis. In this work, we apply a real time multispectral imaging technique to monitor impact on tissue perfusion due to varying interrupted suture spacing and suture tensions. Multispectral tissue images at 470, 540, 560, 580, 670 and 760 nm are analyzed in conjunction with an empirical model based on diffuse reflectance process to quantify the hemoglobin oxygen saturation within the suture site. The investigated tissues for anastomoses include porcine small (jejunum and ileum) and large (transverse colon) intestines. Two experiments using interrupted suturing with suture spacing of 1, 2, and 3 mm and tension levels from 0 N to 2.5 N are conducted. Tissue perfusion at 5, 10, 20 and 30 min after suturing are recorded and compared with the initial normal state. The result indicates the contrast between healthy and ischemic tissue areas and assists the determination of suturing spacing and tension. Therefore, the assessment of tissue perfusion will permit the development and intra-surgical monitoring of an optimal suture protocol during anastomosis with less complications and improved functional outcome.

A baseline configuration for the dual-aircraft platform (DAP) concept is described and evaluated in a physics-based flight dynamics simulations for two month-long missions as a communications relay in the lower stratosphere above central Florida. The DAP features two unmanned aerial vehicles connected via a long adjustable cable which effectively sail back-and-forth using wind velocity gradients and solar energy. Detailed atmospheric profiles in the vicinity of 60,000-ft derived from archived data measured by the 50-Mhz Doppler Radar Wind Profiler at Cape Canaveral are used in the flight simulations. An overview of the novel guidance and flight control strategies are provided. The energy-usage of the baseline configuration during month-long stationkeeping missions (i.e., within 150-mile radius of downtown Orlando) is characterized and compared to that of a pure solar aircraft.

Space launch vehicles utilize atmospheric winds in design of the vehicle and during day-of-launch (DOL) operations to assess affects of wind loading on the vehicle and to optimize vehicle performance during ascent. The launch ranges at NASA's Kennedy Space Center co-located with the United States Air Force's (USAF) Eastern Range (ER) at Cape Canaveral Air Force Station and USAF's Western Range (WR) at Vandenberg Air Force Base have extensive networks of in-situ and remote sensing instrumentation to measure atmospheric winds. Each instrument's technique to measure winds has advantages and disadvantages in regards to use for vehicle engineering assessments. Balloons measure wind at all altitudes necessary for vehicle assessments, but two primary disadvantages exist when applying balloon output on DOL. First, balloons need approximately one hour to reach required altitude. For vehicle assessments this occurs at 60 kft (18.3 km). Second, balloons are steered by atmospheric winds down range of the launch site that could significantly differ from those winds along the vehicle ascent trajectory. Figure 1 illustrates the spatial separation of balloon measurements from the surface up to approximately 55 kft (16.8 km) during the Space Shuttle launch on 10 December 2006. The balloon issues are mitigated by use of vertically pointing Doppler Radar Wind Profilers (DRWPs). However, multiple DRWP instruments are required to provide wind data up to 60 kft (18.3 km) for vehicle trajectory assessments. The various DRWP systems have different operating configurations resulting in different temporal and spatial sampling intervals. Therefore, software was developed to combine data from both DRWP-generated profiles into a single profile for use in vehicle trajectory analyses. Details on how data from various wind measurement systems are combined and sample output will be presented in the following sections.

Intestinal anastomosis is a surgical procedure that restores bowel continuity after surgical resection to treat intestinal malignancy, inflammation, or obstruction. Despite the routine nature of intestinal anastomosis procedures, the rate of complications is high. Standard visual inspection cannot distinguish the tissue subsurface and small changes in spectral characteristics of the tissue, so existing tissue anastomosis techniques that rely on human vision to guide suturing could lead to problems such as bleeding and leakage from suturing sites. We present a proof-of-concept study using a portable multispectral imaging (MSI) platform for tissue characterization and preoperative surgical planning in intestinal anastomosis. The platform is composed of a fiber ring light-guided MSI system coupled with polarizers and image analysis software. The system is tested on ex vivo porcine intestine tissue, and we demonstrate the feasibility of identifying optimal regions for suture placement.

The invention is directed to a method of treating systemic arterial hypertension which preferably uses enter administration of a once-daily dose of ethacrynic acid of less than 50 mg/day to a patient afflicted with arterial hypertension. Doses of less than 25 mg/day ethacrynic acid are also indicated for treating hypertension. The invention also includes novel dosage forms comprising from 2.0 to 20 mg of ethacrynic acid.

The observation and 3D quantification of arbitrary scenes using optical imaging systems is challenging, but increasingly necessary in many fields. This paper provides a technical basis for the application of plenoptic cameras in medical and medical robotics applications, and rigorously evaluates camera integration and performance in the clinical setting. It discusses plenoptic camera calibration and setup, assesses plenoptic imaging in a clinically relevant context, and in the context of other quantitative imaging technologies. We report the methods used for camera calibration, precision and accuracy results in an ideal and simulated surgical setting. Afterwards, we report performance during a surgical task. Test results showed the average precision of the plenoptic camera to be 0.90mm, increasing to 1.37mm for tissue across the calibrated FOV. The ideal accuracy was 1.14mm. The camera showed submillimeter error during a simulated surgical task.

Atmospheric wind data are required by space launch vehicles in order to assess flight vehicle loads and performance on day-of-launch. Space launch ranges at NASA's Kennedy Space Center co-located with the United States Air Force's (USAF) Eastern Range (ER) at Cape Canaveral Air Force Station and USAF's Western Range (WR) at Vandenberg Air Force Base have extensive networks of in-situ and remote sensing instrumentation to measure atmospheric winds. Each instrument's technique to measure winds has advantages and disadvantages in regards to use within vehicle trajectory analyses. Balloons measure wind at all altitudes necessary for vehicle assessments, but two primary disadvantages exist when applying balloon output. First, balloons require approximately one hour to reach required altitudes. Second, balloons are steered by atmospheric winds down range of the launch site that could significantly differ from those winds along the vehicle ascent trajectory. These issues are mitigated by use of vertically pointing Doppler Radar Wind Profilers (DRWPs). However, multiple DRWP instruments are required to provide wind data over altitude ranges necessary for vehicle trajectory assessments. The various DRWP systems have different operating configurations resulting in different temporal and spatial sampling intervals. Therefore, software was developed to combine data from both DRWP-generated profiles into a single profile for use in vehicle trajectory analyses. This paper will present details of the splicing software algorithms and will provide sample output.

Space launch vehicles incorporate upper-level wind assessments to determine wind effects on the vehicle and for a commit-to-launch decision. These assessments make use of wind profiles measured hours before launch and may not represent the actual wind the vehicle will fly through. Uncertainty in the winds over the time period between the assessment and launch introduces uncertainty in assessment of vehicle controllability and structural integrity that must be accounted for to ensure launch safety. Temporal wind pairs are used in engineering development of allowances to mitigate uncertainty. Five sets of temporal wind pairs at various times (0.75, 1.5, 2, 3, and 4 h) at the United States Air Force Eastern Range and Western Range, as well as the National Aeronautics and Space Administration's Wallops Flight Facility, are developed for use in upper-level wind assessments on vehicle performance. Historical databases are compiled from balloon-based and vertically pointing Doppler radar wind profiler systems. Various automated and manual quality control procedures are used to remove unacceptable profiles. Statistical analyses on the resultant wind pairs from each site are performed to determine if the observed extreme wind changes in the sample pairs are representative of extreme temporal wind change. Wind change samples in the Eastern Range and Western Range databases characterize extreme wind change. However, the small sample sizes in the Wallops Flight Facility databases yield low confidence that the sample population characterizes extreme wind change that could occur.

This paper provides an overview of ground based operational remote sensing activities that enable a broad range of missions at the Eastern Range (ER), which includes the National Aeronautics and Space Administration (NASA) Kennedy Space Center (KSC) and U.S. Air Force Cape Canaveral Air Force Station (CCAFS).Many types of sensors are in use by KSC and across the ER. We examine remote sensors for winds, lightning and electric fields, precipitation and storm hazards. These sensors provide data that are used in real-time to evaluate launch commit criteria during space launches, major ground processing operations in preparation for space launches, issuing weather warnings/watches/advisories to protect over 25,000 people and facilities worth over $20 billion, and routine weather forecasts. The data from these sensors are archived to focus NASA launch vehicle design studies, to develop forecast techniques, and for incident investigation. The wind sensors include the 50-MHz and 915-MHz Doppler Radar Wind Profilers (DRWP) and the Doppler capability of the weather surveillance radars. The atmospheric electricity sensors include lightning aloft detectors, cloud-to-ground lightning detectors, and surface electric field mills. The precipitation and storm hazards sensors include weather surveillance radars.Next, we discuss a new type of remote sensor that may lead to better tracking of near-Earth asteroids versus current capabilities. The Ka Band Objects Observation and Monitoring (KaBOOM) is a phased array of three 12 meter (m) antennas being built as a technology demonstration for a future radar system that could be used to track deep-space objects such as asteroids. Transmissions in the Ka band allow for wider bandwidth than at lower frequencies, but the signals are also far more susceptible to de-correlation from turbulence in the troposphere, as well as attenuation due to water vapor, which is plentiful in the Central Florida atmosphere. If successful, KaBOOM will have served as the pathfinder for a larger and more capable instrument that will enable tracking 15 m asteroids up to 72 million kilometers (km) away, about half the distance to the Sun and five times further than we can track today.Finally, we explore the use of Site Test Interferometers (STI) as atmospheric sensors. The STI antennas continually observe signals emitted by geostationary satellites and produce measurements of the phase difference between the received signals. STIs are usually located near existing or candidate antenna array sites to statistically characterize atmospheric phase delay fluctuation effects for the site. An STI measures the fluctuations in the difference of atmospheric delay from an extraterrestrial source to two or more points on the Earth. There is a three-element STI located at the KaBOOM site at KSC.